ds_sim

This package includes a set of common gazebo tools for building a simulation. Includes Xacro and Gazebo binary plugins for a number of useful sensors, some utilities, that stuff.

Vehicle-specific stuff should either live elsewhere or in the vehicle config repo.

Contents of this Package

Simulation tools for:

• Phins
• 300kHz RDI DVL
• Paroscientific Digiquartz depth sensor
• Sonardyne Avtrak 6 USBL / SMS device
• Xeos GPS

Getting Started

This is a DS ROS package intended to be run as part of the larger DSL ROS echosystem. See the Sentry Wiki

Prerequisites

This package requires ds_msgs and gazeboros. These (and any other) dependencies should be managed correctly in the package.xml.

Installing

You should generally be installing this as part of a rosinstall file.
If handled seperately though, simply add to a catkin workspace and build with:

catkin_make

Deployment

We use SemVer for versioning.

Authors

• Ian Vaughn - Initial work - WHOI email
• Stefano Suman - Initial work - WHOI email

Acknowledgments

• IFREMER for their architectural support
• Louis Whitcomb et. al. for his message definitions to look over