This repository contains simulation software created for the MBZIRC Maritime Grand Challenge.
This simulator will be enhanced with additional features throughout the simulation phase of the MBZIRC Maritime Grand Challenge.
- Platform: Ubuntu 20.04 (Focal)
- Ignition Fortress
- ROS2 Galactic
See Installation instructions for:
-
Ignition Fortress: https://ignitionrobotics.org/docs/fortress
-
ROS2 Galactic: https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Binary.html
-
Create a colcon workspace and clone the mbzirc repo
mkdir -p ~/mbzirc_ws/src cd ~/mbzirc_ws/src git clone https://github.com/osrf/mbzirc.git
-
Clone the
ros_ign
repo and check out thegalactic
branchcd ~/mbzirc_ws/src git clone https://github.com/ignitionrobotics/ros_ign.git -b galactic
-
Install dependencies using rosdep
cd ~/mbzirc_ws rosdep update rosdep install -r --from-paths src -i -y --rosdistro galactic
Make sure the
ros-galactic-mavros-msgs
package is installed, e.g.dpkg -l | grep ros-galactic-mavros-msgs
If not, install it:
sudo apt install ros-galactic-mavros-msgs
-
Build the workspace
cd ~/mbzirc_ws IGNITION_VERSION=fortress colcon build --merge-install
Note: Make sure to set the
IGNITION_VERSION
tofortress
. This is needed for building theros_ign
package.
Docker images are available on Docker Hub: https://hub.docker.com/repository/docker/osrf/mbzirc
-
Pull the latest version of the docker image
docker pull osrf/mbzirc:mbzirc_sim_latest
-
Clone the repo and launch a Docker container from the image using the
run.bash
script. Note: requiresnvidia-docker2
git clone https://github.com/osrf/mbzirc.git cd mbzirc/docker bash run.bash osrf/mbzirc:mbzirc_sim_latest /bin/bash
To build a docker image of the simulator locally:
-
Navigate to the
docker
directory and build thembzirc_sim
Docker imagecd mbzirc bash docker/build.bash mbzirc_sim
-
The process can take a few minutes. Once it is done, you can launch the Docker container:
bash run.bash mbzirc_sim
Please see the wiki: https://github.com/osrf/mbzirc/wiki