wamv_gz

wamv_gz

Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic on Ubuntu 24.04 based on VRX

Installation

Download ROS 2 Jazzy
Download Gazebo Harmonic
Download ros_gz with sudo apt-get install ros-jazzy-ros-gz
Create a ROS 2 workspace and clone this repository into the /src directory
Run the following terminal commands in the root directory of the ROS 2 workspace:

colcon build
source install/setup.bash
ros2 launch wamv_gz wamv_launch.py

In a separate terminals you can run the following commands to move the WAM-V:

# Thruster activation. Recommended range is -10.0 to 10.0
ros2 topic pub /wamv/thrusters/left/thrust std_msgs/msg/Float64 "data: 10.0"
ros2 topic pub /wamv/thrusters/right/thrust std_msgs/msg/Float64 "data: -4.0"

Other topics are as follows and can be seen using ros2 topic echo <topic_name>:

/wamv/ground_truth/odometry
/wamv/sensors/camera/front/camera_info
/wamv/sensors/camera/front/image
/wamv/sensors/front_lidar/points
/wamv/sensors/front_lidar/scan
/wamv/sensors/gps/gps/fix
/wamv/sensors/imu/imu/data

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	launch
	launch_ros
	ros_gz_sim
	std_msgs
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `wamv_gz` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

wamv_gz package from wamv_gz repo

wamv_gz

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic based on VRX
Checkout URI	https://github.com/david-dorf/wamv_gz.git
VCS Type	git
VCS Version	main
Last Updated	2025-03-18
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 Jazzy package for simulating the WAM-V USV in Gazebo Harmonic

Additional Links

No additional links.

Maintainers

David Dorf

Authors

No additional authors.

wamv_gz

Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic on Ubuntu 24.04 based on VRX

Installation

Download ROS 2 Jazzy
Download Gazebo Harmonic
Download ros_gz with sudo apt-get install ros-jazzy-ros-gz
Create a ROS 2 workspace and clone this repository into the /src directory
Run the following terminal commands in the root directory of the ROS 2 workspace:

colcon build
source install/setup.bash
ros2 launch wamv_gz wamv_launch.py

In a separate terminals you can run the following commands to move the WAM-V:

# Thruster activation. Recommended range is -10.0 to 10.0
ros2 topic pub /wamv/thrusters/left/thrust std_msgs/msg/Float64 "data: 10.0"
ros2 topic pub /wamv/thrusters/right/thrust std_msgs/msg/Float64 "data: -4.0"

Other topics are as follows and can be seen using ros2 topic echo <topic_name>:

/wamv/ground_truth/odometry
/wamv/sensors/camera/front/camera_info
/wamv/sensors/camera/front/image
/wamv/sensors/front_lidar/points
/wamv/sensors/front_lidar/scan
/wamv/sensors/gps/gps/fix
/wamv/sensors/imu/imu/data

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	launch
	launch_ros
	ros_gz_sim
	std_msgs
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `wamv_gz` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

wamv_gz package from wamv_gz repo

wamv_gz

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic based on VRX
Checkout URI	https://github.com/david-dorf/wamv_gz.git
VCS Type	git
VCS Version	main
Last Updated	2025-03-18
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 Jazzy package for simulating the WAM-V USV in Gazebo Harmonic

Additional Links

No additional links.

Maintainers

David Dorf

Authors

No additional authors.

wamv_gz

Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic on Ubuntu 24.04 based on VRX

Installation

Download ROS 2 Jazzy
Download Gazebo Harmonic
Download ros_gz with sudo apt-get install ros-jazzy-ros-gz
Create a ROS 2 workspace and clone this repository into the /src directory
Run the following terminal commands in the root directory of the ROS 2 workspace:

colcon build
source install/setup.bash
ros2 launch wamv_gz wamv_launch.py

In a separate terminals you can run the following commands to move the WAM-V:

# Thruster activation. Recommended range is -10.0 to 10.0
ros2 topic pub /wamv/thrusters/left/thrust std_msgs/msg/Float64 "data: 10.0"
ros2 topic pub /wamv/thrusters/right/thrust std_msgs/msg/Float64 "data: -4.0"

Other topics are as follows and can be seen using ros2 topic echo <topic_name>:

/wamv/ground_truth/odometry
/wamv/sensors/camera/front/camera_info
/wamv/sensors/camera/front/image
/wamv/sensors/front_lidar/points
/wamv/sensors/front_lidar/scan
/wamv/sensors/gps/gps/fix
/wamv/sensors/imu/imu/data

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	launch
	launch_ros
	ros_gz_sim
	std_msgs
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `wamv_gz` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

wamv_gz package from wamv_gz repo

wamv_gz

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic based on VRX
Checkout URI	https://github.com/david-dorf/wamv_gz.git
VCS Type	git
VCS Version	main
Last Updated	2025-03-18
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 Jazzy package for simulating the WAM-V USV in Gazebo Harmonic

Additional Links

No additional links.

Maintainers

David Dorf

Authors

No additional authors.

wamv_gz

Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic on Ubuntu 24.04 based on VRX

Installation

Download ROS 2 Jazzy
Download Gazebo Harmonic
Download ros_gz with sudo apt-get install ros-jazzy-ros-gz
Create a ROS 2 workspace and clone this repository into the /src directory
Run the following terminal commands in the root directory of the ROS 2 workspace:

colcon build
source install/setup.bash
ros2 launch wamv_gz wamv_launch.py

In a separate terminals you can run the following commands to move the WAM-V:

# Thruster activation. Recommended range is -10.0 to 10.0
ros2 topic pub /wamv/thrusters/left/thrust std_msgs/msg/Float64 "data: 10.0"
ros2 topic pub /wamv/thrusters/right/thrust std_msgs/msg/Float64 "data: -4.0"

Other topics are as follows and can be seen using ros2 topic echo <topic_name>:

/wamv/ground_truth/odometry
/wamv/sensors/camera/front/camera_info
/wamv/sensors/camera/front/image
/wamv/sensors/front_lidar/points
/wamv/sensors/front_lidar/scan
/wamv/sensors/gps/gps/fix
/wamv/sensors/imu/imu/data

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	launch
	launch_ros
	ros_gz_sim
	std_msgs
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `wamv_gz` at Robotics Stack Exchange

wamv_gz package from wamv_gz repo

wamv_gz

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic based on VRX
Checkout URI	https://github.com/david-dorf/wamv_gz.git
VCS Type	git
VCS Version	main
Last Updated	2025-03-18
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 Jazzy package for simulating the WAM-V USV in Gazebo Harmonic

Additional Links

No additional links.

Maintainers

David Dorf

Authors

No additional authors.

wamv_gz

Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic on Ubuntu 24.04 based on VRX

Installation

Download ROS 2 Jazzy
Download Gazebo Harmonic
Download ros_gz with sudo apt-get install ros-jazzy-ros-gz
Create a ROS 2 workspace and clone this repository into the /src directory
Run the following terminal commands in the root directory of the ROS 2 workspace:

colcon build
source install/setup.bash
ros2 launch wamv_gz wamv_launch.py

In a separate terminals you can run the following commands to move the WAM-V:

# Thruster activation. Recommended range is -10.0 to 10.0
ros2 topic pub /wamv/thrusters/left/thrust std_msgs/msg/Float64 "data: 10.0"
ros2 topic pub /wamv/thrusters/right/thrust std_msgs/msg/Float64 "data: -4.0"

Other topics are as follows and can be seen using ros2 topic echo <topic_name>:

/wamv/ground_truth/odometry
/wamv/sensors/camera/front/camera_info
/wamv/sensors/camera/front/image
/wamv/sensors/front_lidar/points
/wamv/sensors/front_lidar/scan
/wamv/sensors/gps/gps/fix
/wamv/sensors/imu/imu/data

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	launch
	launch_ros
	ros_gz_sim
	std_msgs
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `wamv_gz` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

wamv_gz package from wamv_gz repo

wamv_gz

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic based on VRX
Checkout URI	https://github.com/david-dorf/wamv_gz.git
VCS Type	git
VCS Version	main
Last Updated	2025-03-18
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 Jazzy package for simulating the WAM-V USV in Gazebo Harmonic

Additional Links

No additional links.

Maintainers

David Dorf

Authors

No additional authors.

wamv_gz

Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic on Ubuntu 24.04 based on VRX

Installation

Download ROS 2 Jazzy
Download Gazebo Harmonic
Download ros_gz with sudo apt-get install ros-jazzy-ros-gz
Create a ROS 2 workspace and clone this repository into the /src directory
Run the following terminal commands in the root directory of the ROS 2 workspace:

colcon build
source install/setup.bash
ros2 launch wamv_gz wamv_launch.py

In a separate terminals you can run the following commands to move the WAM-V:

# Thruster activation. Recommended range is -10.0 to 10.0
ros2 topic pub /wamv/thrusters/left/thrust std_msgs/msg/Float64 "data: 10.0"
ros2 topic pub /wamv/thrusters/right/thrust std_msgs/msg/Float64 "data: -4.0"

Other topics are as follows and can be seen using ros2 topic echo <topic_name>:

/wamv/ground_truth/odometry
/wamv/sensors/camera/front/camera_info
/wamv/sensors/camera/front/image
/wamv/sensors/front_lidar/points
/wamv/sensors/front_lidar/scan
/wamv/sensors/gps/gps/fix
/wamv/sensors/imu/imu/data

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	launch
	launch_ros
	ros_gz_sim
	std_msgs
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `wamv_gz` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

wamv_gz package from wamv_gz repo

wamv_gz

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic based on VRX
Checkout URI	https://github.com/david-dorf/wamv_gz.git
VCS Type	git
VCS Version	main
Last Updated	2025-03-18
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 Jazzy package for simulating the WAM-V USV in Gazebo Harmonic

Additional Links

No additional links.

Maintainers

David Dorf

Authors

No additional authors.

wamv_gz

Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic on Ubuntu 24.04 based on VRX

Installation

Download ROS 2 Jazzy
Download Gazebo Harmonic
Download ros_gz with sudo apt-get install ros-jazzy-ros-gz
Create a ROS 2 workspace and clone this repository into the /src directory
Run the following terminal commands in the root directory of the ROS 2 workspace:

colcon build
source install/setup.bash
ros2 launch wamv_gz wamv_launch.py

In a separate terminals you can run the following commands to move the WAM-V:

# Thruster activation. Recommended range is -10.0 to 10.0
ros2 topic pub /wamv/thrusters/left/thrust std_msgs/msg/Float64 "data: 10.0"
ros2 topic pub /wamv/thrusters/right/thrust std_msgs/msg/Float64 "data: -4.0"

Other topics are as follows and can be seen using ros2 topic echo <topic_name>:

/wamv/ground_truth/odometry
/wamv/sensors/camera/front/camera_info
/wamv/sensors/camera/front/image
/wamv/sensors/front_lidar/points
/wamv/sensors/front_lidar/scan
/wamv/sensors/gps/gps/fix
/wamv/sensors/imu/imu/data

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	launch
	launch_ros
	ros_gz_sim
	std_msgs
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `wamv_gz` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

wamv_gz package from wamv_gz repo

wamv_gz

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.0.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic based on VRX
Checkout URI	https://github.com/david-dorf/wamv_gz.git
VCS Type	git
VCS Version	main
Last Updated	2025-03-18
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 Jazzy package for simulating the WAM-V USV in Gazebo Harmonic

Additional Links

No additional links.

Maintainers

David Dorf

Authors

No additional authors.

wamv_gz

Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic on Ubuntu 24.04 based on VRX

Installation

Download ROS 2 Jazzy
Download Gazebo Harmonic
Download ros_gz with sudo apt-get install ros-jazzy-ros-gz
Create a ROS 2 workspace and clone this repository into the /src directory
Run the following terminal commands in the root directory of the ROS 2 workspace:

colcon build
source install/setup.bash
ros2 launch wamv_gz wamv_launch.py

In a separate terminals you can run the following commands to move the WAM-V:

# Thruster activation. Recommended range is -10.0 to 10.0
ros2 topic pub /wamv/thrusters/left/thrust std_msgs/msg/Float64 "data: 10.0"
ros2 topic pub /wamv/thrusters/right/thrust std_msgs/msg/Float64 "data: -4.0"

Other topics are as follows and can be seen using ros2 topic echo <topic_name>:

/wamv/ground_truth/odometry
/wamv/sensors/camera/front/camera_info
/wamv/sensors/camera/front/image
/wamv/sensors/front_lidar/points
/wamv/sensors/front_lidar/scan
/wamv/sensors/gps/gps/fix
/wamv/sensors/imu/imu/data

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	launch
	launch_ros
	ros_gz_sim
	std_msgs
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `wamv_gz` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

wamv_gz package from wamv_gz repo

wamv_gz

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.0.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic based on VRX
Checkout URI	https://github.com/david-dorf/wamv_gz.git
VCS Type	git
VCS Version	main
Last Updated	2025-03-18
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 Jazzy package for simulating the WAM-V USV in Gazebo Harmonic

Additional Links

No additional links.

Maintainers

David Dorf

Authors

No additional authors.

wamv_gz

Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic on Ubuntu 24.04 based on VRX