We assume you are using at least Ubuntu 14.04.4 LTS and ROS Indigo, even though the simulator package should also work with later versions (minor adjustments may be required). Please refer to the installation instructions for
uuv_simulator package has currently been released for
melodic. To install all the packages, run
sudo apt install ros-kinetic-uuv-simulator
sudo apt install ros-lunar-uuv-simulator
sudo apt install ros-melodic-uuv-simulator
Installation from source¶
Checkout below the needed dependencies for ROS
Choose the ones you need according to the ROS version you are using.
It is recommended to also install
indigo and Gazebo 7¶
To install ROS Indigo, first follow the installation instructions in this wiki page and choose the installation of the
Follow the instructions from the Gazebo 7 installation tutorial
Install the necessary ROS packages for Gazebo 7
sudo apt-get install ros-indigo-gazebo7-*
- Some extra packages that might also be needed
sudo apt-get install protobuf-compiler protobuf-c-compiler
To use the vehicles with robotic manipulators using
indigo, it might also be necessary to use a different version of the
ros-control modules (listed below). In that case, clone the following repositories in the
git clone https://github.com/ros-controls/control_msgs.git cd control_msgs git checkout c0b322b cd .. git clone https://github.com/ros-controls/control_toolbox.git cd control_toolbox git checkout 5ccdc6d cd .. git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git cd gazebo_ros_pkgs git checkout 231b76d cd .. git clone https://github.com/ros-controls/realtime_tools.git cd realtime_tools git checkout bf55298 cd .. git clone https://github.com/ros-controls/ros_controllers.git cd ros_controllers git checkout b4dc152 cd ..
kinetic and Gazebo 7¶
If you installed
ros-kinetic-desktop-fullafter following the installation instructions for ROS Kinetic, Gazebo 7.0 should already be installed.
In case you want to update Gazebo 7, follow the instructions to add the mirror from OSRF and then upgrade
sudo apt-get install --only-upgrade gazebo7 libgazebo7-dev
kinetic and Gazebo 9¶
Install the package
ros-kinetic-desktop-fullfollowing these installation instructions.
Install the additional packages necessary to work with
kineticand Gazebo 9
sudo apt-get install ros-kinetic-gazebo9-*
melodic and Gazebo 9¶
Creating and configuring a workspace¶
If you don't have the ROS workspace yet, you should run the following and then clone the
uuv_simulator package in the
mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src
Be sure to install
catkin tools package by following the installation instructions on the catkin tools documentation page. After the installation, initialize the catkin workspace
cd ~/catkin_ws catkin init
You can then clone the UUV simulator into your
cd ~/catkin_ws/src git clone https://github.com/uuvsimulator/uuv_simulator.git
Configure the environment variables by adding the following lines in
kinetic with the ROS version you are using).
If you install a version of Gazebo newer than 7.X, you might need to adjust
gazebo-7 below (e.g.
You can find out which version you are using by typing
in your terminal.
source /usr/share/gazebo-7/setup.sh source /opt/ros/kinetic/setup.bash source $HOME/catkin_ws/devel/setup.bash
After saving these changes, remember to source the
.bashrc by either typing
To install the simulator's dependencies, you can run one of the following commands (see which of the ROS/Gazebo combinations from dependencies you have on your machine):
indigo+ Gazebo 7
cd ~/catkin_ws rosdep install --from-paths src --ignore-src --rosdistro=indigo -y --skip-keys "gazebo gazebo_msgs gazebo_plugins gazebo_ros gazebo_ros_control gazebo_ros_pkgs"
kinetic+ Gazebo 7
cd ~/catkin_ws rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
kinetic+ Gazebo 9
cd ~/catkin_ws rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y --skip-keys "gazebo gazebo_msgs gazebo_plugins gazebo_ros gazebo_ros_control gazebo_ros_pkgs"
In case you are using
lunar, you might need to clone the following repositories directly to your
~/catkin_ws/src folder and build them with the rest of the packages
cd ~/catkin/src git clone https://github.com/tu-darmstadt-ros-pkg/hector_localization git clone https://github.com/ros-teleop/teleop_tools
Finally, build your workspace using
cd ~/catkin_ws catkin_make install
cd ~/catkin_ws catkin build
in case you are using
If after compiling your catkin workspace using
catkin build ROS seems to not update the paths to the packages even after you run
cd ~/catkin_ws source devel/setup.bash
you can try disabling the option to source the
install folder of your catkin workspace by running
cd ~/catkin_ws catkin config --no-install catkin clean --all
Then rebuild your workspace
catkin build source devel/setup.bash