Install ROS and Gazebo

Install Dependencies

sudo apt update
sudo apt install -y build-essential cppcheck curl cmake lsb-release git python3-dbg python3-pip python3-venv ruby software-properties-common wget libeigen3-dev pkg-config protobuf-compiler qtbase5-dev libgles2-mesa-dev

Install ROS Noetic

• Install ROS Noetic per https://wiki.ros.org/noetic/Installation/Ubuntu. Specifically:

  Install sources list, keys, ROS Noetic, initialize rosdep:

  sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
  sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  sudo apt update
  sudo apt install ros-noetic-desktop-full
  sudo apt install ros-noetic-velodyne-gazebo-plugins python3-rosdep
  sudo rosdep init
  rosdep update
  

  and set up .bashrc for working with ROS Noetic:

  source /opt/ros/noetic/setup.bash
  

Install Other ROS Dependencies

DIST=noetic
sudo apt install ros-${DIST}-rqt-robot-plugins ros-${DIST}-effort-controllers ros-${DIST}-joy ros-${DIST}-teleop-twist-joy ros-${DIST}-teleop-twist-keyboard ros-${DIST}-teleop-tools ros-${DIST}-joy-teleop ros-${DIST}-key-teleop ros-${DIST}-geographic-info ros-${DIST}-move-base ros-${DIST}-robot-localization ros-${DIST}-robot-state-publisher ros-${DIST}-xacro ros-${DIST}-rqt ros-${DIST}-rqt-common-plugins ros-${DIST}-hector-gazebo-plugins

Note that the manipulator arm requires the ros-noetic-effort_controllers and glider requires the ros-noetic-hector-gazebo-plugins

Graphics Drivers and CUDA

• If you are installing on WSL2 at Windows machine, skip this section since WSL2 with GUI requires different NVIDIA Driver (NVIDIA Driver for WSL) and CUDA (CUDA for WSL)
• If using the NVidia graphics card, install the NVidia driver instead of using Ubuntu's default video driver: https://linuxize.com/post/how-to-nvidia-drivers-on-ubuntu-20-04/

Install Dave and dependencies from source

Clone the source repositories.

• Follow instructions at this link to clone the source repositories you will work with.

Build

  cd ~/uuv_ws
  catkin_make

Source new setup.bash by typing this:

source ~/uuv_ws/devel/setup.bash

Also, put source ~/uuv_ws/devel/setup.bash in your .bashrc file.

Test your Installation

Test by running one of the Dave demo

roslaunch dave_demo_launch dave_demo.launch

If the simulator does not close promptly with Ctrl-C, use command pkill gzclient && pkill gzserver at another terminal window to force close.

images/uuv_reference_view.png

More details are discussed at uuv_simulator_reference.