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This repository contains the robot description and necessary launch files to simulate the ECA A9 autonomous underwater vehicle. This repository is complementary to the Unmanned Underwater Vehicle Simulator (UUV Simulator), an open-source project extending the simulation capabilities of the robotics simulator Gazebo to underwater vehicles and environments. For installation and usage instructions, please refer to the documentation pages.
Purpose of the project¶
This software is a research prototype, originally developed for the EU ECSEL Project 662107 SWARMs.
The software is not ready for production use. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards (e.g. ISO 26262).
To simulate the ECA A9 AUV, please refer to the UUV Simulator
repository and follow the installation instructions of the package. Then you can clone
this package in the
src folder of you catkin workspace
cd ~/catkin_ws/src git clone https://github.com/uuvsimulator/eca_a9.git
and then build your catkin workspace
cd ~/catkin_ws catkin_make # or <catkin build>, if you are using catkin_tools
Example of usage¶
To run a demonstration with the vehicle with teleoperation, you can run a UUV simulator Gazebo scenario, such as
roslaunch uuv_gazebo_worlds ocean_waves.launch
roslaunch eca_a9_gazebo start_demo_teleop.launch joy_id:=0
The teleoperation nodes are pre-configured per default for the XBox 360 controller.
Configuration of the Gazebo world¶
The simulation with the fin plugins have shown better results by configuring
.world file with the following parameters for the physics engine:
<physics name="default_physics" default="true" type="ode"> <max_step_size>0.01</max_step_size> <real_time_factor>1</real_time_factor> <real_time_update_rate>100</real_time_update_rate> <ode> <solver> <type>quick</type> <iters>50</iters> <sor>1.2</sor> </solver> </ode> </physics>
Check the Mangalia world file to see an example.
ECA A9 package is open-sourced under the Apache-2.0 license. See the LICENSE file for details.