带有水流和风的Gazebo无人水面车辆仿真_Python_Ruby_.zip

# Simulated enviroment for Unmanned Surface Vehicles (usv_sim_lsa) -- 0.2 [](https://travis-ci.org/disaster-robotics-proalertas/usv_sim_lsa) [](http://gazebo-usv-simulation.rtfd.io/) [](https://gitter.im/usv-sim) [](https://zenodo.org/badge/latestdoi/91500138) [](https://github.com/disaster-robotics-proalertas/usv_sim_lsa/blob/master/LICENSE) This simulator uses a combination of multiple physics packages to build a test environment for Unmanned Surface Vehicles (USV). We'll use it, at first, to develop and test control and trajectory strategies for USVs. but it can be easily adapted to other applications. It contains multiple robot models such as propeled boats(rudder boat, differential boat, airboat) and sailboat. Boats are affected by waves, wind and water currents. To do that, we curently use UWsim for water surface modeling, we also load HEC-RAS output files with water speed of river and channel simulations. We simulate wind current with OpenFoam simulator. All those features alow to disturb the movement of boats in a realistic way. ## Prerequisites You need Ubuntu Linux 16.04 since the current version of this simulator uses ROS Kinetic. To install ROS Kinetic and some additional packages, run the following commands: sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 sudo apt-get update sudo apt-get install ros-kinetic-desktop-full ros-kinetic-control-* ros-kinetic-osg-markers ros-kinetic-move-base -y sudo rosdep init rosdep update sudo echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc source ~/.bashrc Now run the following commands to download the dependencies of usv_sim: sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential python-rosdep python-wxtools python-lxml python-pathlib python-h5py python-scipy python-geolinks python-gdal -y sudo apt-get install libfftw3-* libxml++2.6-* libsdl-image1.2-dev libsdl-dev -y ## Installing To run the packages of usv_sim you need a catkin workspace. If you already have a workspace you may jump to the Downloading and installing subsection. ### Creating a catkin workspace source /opt/ros/kinetic/setup.bash mkdir -p ~/catkin_ws/src cd ~/catkin_ws/ catkin_make ### Downloading and installing usv_sim stack Clone the usv_sim repository in the src folder of your catkin workspace: cd ~/catkin_ws/src git clone https://github.com/disaster-robotics-proalertas/usv_sim_lsa.git cd usv_sim_lsa git submodule init git submodule update Run the instalation script: cd ~/catkin_ws/src/usv_sim_lsa chmod +x ./install_usv_sim ./install_usv_sim Install the dependencies: rosdep install --from-paths src --ignore-src --rosdistro kinetic -y Compile the stack: cd ~/catkin_ws/ catkin_make_isolated --install source install_isolated/setup.bash To run a scenario: roslaunch usv_sim airboat_scenario1.launch parse:=true roslaunch usv_sim airboat_scenario1.launch parse:=false The simulation might take some time to initialize if you're launching gazebo for the first time. If the simulation dosen't starts you should close it, run gazebo separately (command *gazebo* in the terminal), wait for gazebo to open (it is downloading some models), close gazebo and then try to run the scenario again. Make sure your graphic card driver is up to date. ## Running the tests On main folder of usv_sim_lsa, there are some scripts that run testing scenarios on Diluvio's River in Porto Alegre, Brazil. Each scenario is configured to test the boat control on executing some common maneuveurs (see image below). Besides that, you can run the following scripts: - ``scenario1``: boat should navigate through two lines of buoys. - ``scenario2``: boat should avoid colision with 3 buoys. - ``scenario3``: boat should execute zigzag to cover an area. To execute water simulation to those scenarios, you should run the script named ``waterCurrentDiluvio``. <p align="center"> <img src="./images/SCENARIOS2.png" width="400" alt="Scenarios to test boats"/> </p> [//]: # ( AMA, aponta aqui para aqueles videos que vc fez antes. la no youtube, seria bom vc editar a descricao dos videos para incluir uma frase sobre o simulador e apontar p esse repo. assim, quem achar o teu simulador via youtube vai conseguir acessar o codigo ) ## System Architecture The main system architecture is composed of UWSIM and Gazebo. With some plugins, we can simulate in a realistic way the effects of waves, wind and water currents on several boat types. Above is presented the some topic interaction between our gazebo plugin named usv_sailing_plugin and ROS Nodes wind_current and wind_current. <p align="center"> <img src="./images/DiagramaTopicosServicos.png" width="800" alt="System Architecture"/> </p> ## Models There are 4 boat models preconfigured in package usv_sim: - airboat: composed by one thruster above the hull. This model has greater advantaged to navigate on shallow waters. - differential boat: two thruster under water surface. This model has the simplest maneuverability. - rudder boat: one thruster and one rudder. One of the most common configuration presented in boats. - sailboat: one sail and one rudder. <p align="center"> <img src="./images/barcos4.png" width="800" alt="4 boat models"/> </p> The hull of all models above has been subdivided in 6 parts (see image above), so waves affects buoyancy of model in such way that boats present more realistic movement. If you want greater realism, you can subdivided the hull in more parts. To do that, you have to use geometric tools like Blender to model each part of hull. After that, you should configure links and joints in xacro files (like usv_sim/xacro/boat_subdivided4.xacro). As gazebo simulator combine fixed joints, you should define the joints of hull as of type revolution, but with zero value to upper and lower limits. <p align="center"> <img src="./images/boatSubdivision3.png" width="800" alt="Boat subdivision"/> </p> ## DISTURBANCE TYPES The vehicles can be affected by 3 types of disturbances: wind currents, water currents and waves. Each kind of disturbance is presented below: ### WATER CURRENT To allow the water current affect vehicles differently across the space and time, the USV_SIM can load output simulations from the HEC-RAS hydrological simulator. The HEC-RAS is a CFD software (computational fluid dynamics) capable of modelling the water flow through natural rivers and channels. Below it is presented an image, and a video of HEC-RAS simulations used in USV_SIM. HEC-RAS can reproduce turbulence effects presented into rivers and other bodies of water. <p align="center"> <img src="./images/composto4.png" width="800" alt="HEC-RAS Simulation of Diluvio River, Porto Alegre, RS - Brazil "/> </p> #### VIDEO - CLICK ON IMAGE TO PLAY IT <p align="center"> <a href="http://www.youtube.com/watch?feature=player_embedded&v=mbg59MQRa9M" target="_blank"> <img src="./images/hecras_diluvio0.jpg" alt="Diluvio River - HEC-RAS Simulation" width="423" height="271" border="10" /> </a> </p> ### WAVES The integration with UWSim allows to reproduce waves to different configurations. Below is presented an differential boat travelling through waves. [//]: # (This is also a comment. AMA. Marcelo