A USV simulator for ROS Noetic and Gazebo 9.
Forked from https://github.com/jhlenes/usv_simulator which is based on https://bitbucket.org/osrf/vrx.
Navigate to the src/ folder in your catkin workspace, e.g. cd ~/catkin_ws/src. Then run the following (the command sudo rosdep init will print an error if you have already executed it since installing ROS. This error can be ignored.)
git clone https://github.com/jhlenes/usv_simulator.git
cd ..
sudo apt update
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
catkin_make
source devel/setup.bash
roslaunch otter_gazebo otter.launch
Faster than real-time simulation is also available, if your computer is fast enough. Without a dedicated graphics card this is only useful for simulation without gui, i.e. with argument gui:=false.
roslaunch otter_gazebo otter_fast.launch
Check out the launch files for available arguments.
roslaunch otter_gazebo keydrive.launch