Welcome to GalaxSea's code base!

This repo is the entire ROS 2 workspace (galaxsea_ws). Packages live in src/:

Path	What it is
src/galaxsea	Our boat code (controllers, lidar preprocessing, custom Gazebo worlds/models)
src/ROS-TCP-Endpoint	Unity ROS-TCP-Endpoint (main-ros2), as a git submodule, for talking to the Unity simulator

Installation

The roboboat-docker development image already ships a clone of this workspace at /root/galaxsea_ws. To clone it yourself, include the submodules:

cd /root
git clone --recurse-submodules https://github.com/RoboSub-UTD/galaxsea_ws

If you already cloned without --recurse-submodules, fetch the submodules with

git submodule update --init --recursive

Setup

important: run these from the workspace root (galaxsea_ws), not from src

1. Build the workspace

colcon build --merge-install

2. Source the installation

. install/setup.bash

Simulator + Controller

1. Launch the gazebo simulation using

ros2 launch vrx_gz competition.launch.py

After it launches, you should see a Gazebo GUI with a boat on the water. If you don't, try running

xhost +

in a new terminal in your host computer. If it still fails, check your run script for allowing displays.

2. Run the keyboard boat controller using

ros2 run galaxsea boat_controller

Using waxd you can move the boat around the lake

Unity Simulator (ROS-TCP-Endpoint)

Start the endpoint the Unity simulator connects to:

ros2 run ros_tcp_endpoint default_server_endpoint --ros-args -p ROS_IP:=0.0.0.0

Setting up Custom Worlds

1. Add the path to the custom models and worlds to $GZ_SIM_RESOURCE_PATH

export GZ_SIM_RESOURCE_PATH="/root/galaxsea_ws/src/galaxsea/custom_simulations/worlds:/root/galaxsea_ws/src/galaxsea/custom_simulations/models:$GZ_SIM_RESOURCE_PATH"

Make sure to put your path in case it is different

2. Launch the new world using

ros2 launch vrx_gz competition.launch.py world:=task_one

change task_one to whatever the world is called