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rexrov2_gazebo

Version

Link to the rexrov2 repository here

Description

Package with launch files for demonstrations with the RexROV 2 vehicle with different positioning controllers.

Launch files

start_demo_pd_grav_compensation_controller.launch

Arguments

  • record (default: false): Set this flag to true to call record.launch
  • bag_filename (default: recording.bag): Name of the output ROS bag file in case record is set to true
  • use_ned_frame (default: false): If true, uses the NED (North-East-Down) frame conversion. If false, ENU (East-North-Up) will be used per default.
  • x (default: 0): X coordinate of the vehicle's initial position (in ENU)
  • y (default: 0): Y coordinate of the vehicle's initial position (in ENU)
  • z (default: -25): Z coordinate of the vehicle's initial position (in ENU)
  • yaw (default: 0): Yaw angle of the vehicle's initial orientation
  • teleop_on (default: false): If true, the teleop node will be started
  • joy_id (default: 0): Joystick ID
start_demo_nmb_sm_controller.launch

Arguments

  • record (default: false): Set this flag to true to call record.launch
  • bag_filename (default: recording.bag): Name of the output ROS bag file in case record is set to true
  • use_ned_frame (default: false): If true, uses the NED (North-East-Down) frame conversion. If false, ENU (East-North-Up) will be used per default.
  • x (default: 0): X coordinate of the vehicle's initial position (in ENU)
  • y (default: 0): Y coordinate of the vehicle's initial position (in ENU)
  • z (default: -25): Z coordinate of the vehicle's initial position (in ENU)
  • yaw (default: 0): Yaw angle of the vehicle's initial orientation
  • teleop_on (default: false): If true, the teleop node will be started
  • joy_id (default: 0): Joystick ID
start_demo_pid_controller.launch

Arguments

  • record (default: false): Set this flag to true to call record.launch
  • bag_filename (default: recording.bag): Name of the output ROS bag file in case record is set to true
  • use_ned_frame (default: false): If true, uses the NED (North-East-Down) frame conversion. If false, ENU (East-North-Up) will be used per default.
  • x (default: 0): X coordinate of the vehicle's initial position (in ENU)
  • y (default: 0): Y coordinate of the vehicle's initial position (in ENU)
  • z (default: -25): Z coordinate of the vehicle's initial position (in ENU)
  • yaw (default: 0): Yaw angle of the vehicle's initial orientation
  • teleop_on (default: false): If true, the teleop node will be started
  • joy_id (default: 0): Joystick ID
start_demo_sf_controller.launch

Arguments

  • record (default: false): Set this flag to true to call record.launch
  • bag_filename (default: recording.bag): Name of the output ROS bag file in case record is set to true
  • use_ned_frame (default: false): If true, uses the NED (North-East-Down) frame conversion. If false, ENU (East-North-Up) will be used per default.
  • x (default: 0): X coordinate of the vehicle's initial position (in ENU)
  • y (default: 0): Y coordinate of the vehicle's initial position (in ENU)
  • z (default: -25): Z coordinate of the vehicle's initial position (in ENU)
  • yaw (default: 0): Yaw angle of the vehicle's initial orientation
  • teleop_on (default: false): If true, the teleop node will be started
  • joy_id (default: 0): Joystick ID
start_demo_mb_fl_controller.launch

Arguments

  • record (default: false): Set this flag to true to call record.launch
  • bag_filename (default: recording.bag): Name of the output ROS bag file in case record is set to true
  • use_ned_frame (default: false): If true, uses the NED (North-East-Down) frame conversion. If false, ENU (East-North-Up) will be used per default.
  • x (default: 0): X coordinate of the vehicle's initial position (in ENU)
  • y (default: 0): Y coordinate of the vehicle's initial position (in ENU)
  • z (default: -5): Z coordinate of the vehicle's initial position (in ENU)
  • yaw (default: 0): Yaw angle of the vehicle's initial orientation
  • teleop_on (default: false): If true, the teleop node will be started
  • joy_id (default: 0): Joystick ID
record.launch

Arguments

  • record (default: false): If true, the rosbag record node will be called
  • bag_filename (default: recording.bag): Name of the recording bag
  • uuv_name (default: rexrov2): Namespace of the vehicle