ROS Index
No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro kilted. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
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 (-) |
Packages
| Name | Version |
|---|---|
| wamv_gz | 0.0.1 |
README
wamv_gz
Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic on Ubuntu 24.04 based on VRX
Screencast from 2024-12-29 18-36-39.webm
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
CONTRIBUTING
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.
No version for distro noetic. Known supported distros are highlighted in the buttons above.