This page describes usage for the reference configuration of Project DAVE. The reference configuration includes:

• An underwater environment, including an ocean floor.
• A UUV including thrusters, a manipulator arm, and sensors.
• A bar on the ocean floor that the UUV can grab.

Here is an example view:

images/uuv_reference_view.png

Run the UUV simulation

roslaunch uuv_dave uuv_dave.launch

Control the UUV

The simulation may be controlled using a joystick. Joystick operation depends on joystick mode:

Mode	Control
Default	UUV Body
Right Bumper pressed	Oberon 7 Arm

UUV body controls:

drawings/joy_uuv_controller.png

Oberon 7 Arm controls:

drawings/joy_arm_controller.png

Control the Gazebo camera

Control Gazebo's camera scene view using the mouse, see http://gazebosim.org/hotkeys.html.