Launch files

sim_launch.py

Launch ROV or AUV simulation in Gazebo. Calls bringup.py.

To see parameters: ros2 launch --show-args orca_bringup sim_launch.py

bringup.py

Bring up all core ROV and AUV nodes, including ORB_SLAM2 and Nav2. Calls navigation_launch.py.

navigation_launch.py

Nav2 navigation launch file, modified to avoid launch the velocity smoother.

Scenarios

Full automation

In a terminal run:

source src/orca4/setup.bash
ros2 launch orca_bringup sim_launch.py

Execute a mission in a 2nd terminal:

source src/orca4/setup.bash
ros2 run orca_bringup mission_runner.py

Using MAVProxy

It is possible to launch Gazebo and ArduSub and control the sub using MAVProxy.

Launch a minimal system:

ros2 launch orca_bringup sim_launch.py base:=false mavros:=false nav:=false rviz:=false slam:=false

Launch MAVProxy in a 2nd terminal:

mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551 --out udp:0.0.0.0:14550 --console

You can use MAVProxy to send commands directly to ArduSub:

arm throttle
rc 3 1450
rc 3 1500
mode alt_hold
disarm

RC channels:

• RC 3 – vertical
• RC 4 – yaw
• RC 5 – forward
• RC 6 – strafe

MAVProxy + SLAM

This will bring up a minimal system with SLAM and RViz:

ros2 launch orca_bringup sim_launch.py base:=false mavros:=false nav:=false

You can use MAVProxy to drive the sub around the seafloor and build a map.

Video pipeline

The simulation uses Gazebo camera sensors to generate uncompressed 800x600 images in an ideal stereo configuration. The frame rate is throttled to 5Hz to reduce CPU load in ORB_SLAM2, but it can easily go higher.