Simulator - Vincent1334/ROS-Humble-BlueRov2-Driver GitHub Wiki

BlueROV2 Simulator 🚤

Download đŸ“Ĩ

Usage 🕹ī¸

  1. Install SITL
  2. Open QGroundControl.
  3. Set up a new communication link at TCP 127.0.0.1, port 5760.
  4. Launch BlueSim.
  5. Choose BlueRov2 Heavy.
  6. Connect the new link in QGC.
  7. Drive around using the gamepad as if controlling a real BlueRov2.

SITL Setup Step-by-Step Guide 🛠ī¸

1. Install Required Packages đŸ“Ļ

Linux/Ubuntu users can install the packages with apt:

sudo apt-get update
sudo apt-get install git
sudo apt-get install gitk git-gui

2. Clone the ArduPilot Repository 🐙

Clone the ArduPilot repository and navigate to the directory:

git clone https://github.com/ArduPilot/ardupilot.git
cd ardupilot

3. Install Dependencies 🔧

Run the installation script for dependencies and reload your profile:

Tools/environment_install/install-prereqs-ubuntu.sh -y
. ~/.profile

4. Start SITL 🚀

Start SITL with console and map options. All required classes are compiled, which takes some time.

sim_vehicle.py --console --map -w

5. Stop the Program 🛑

After the simulator has started, you can stop the program. SITL is then set up successfully

Before opening Bluesim (it launches its own SITL instance), run:

sim_vehicle.py -j6 -L RATBeach -v ArduSub -f vectored_6dof JSON --out=udpout:0.0.0.0:14550

External Levels

External levels can be loaded by placing a .pck file in the "levels" folder at the same level as the simulator executable (the folder is created at first run if it does not exist).

The pck file must have a custom_level.tscn scene, which will be loaded in runtime and added as a child to baselevel.tscn, which contains the ROV, water, sky, and other basic functionality. The root node at "custom_level.tscn" should preferably be a spatial node with all your custom 3D scene within it.

Sunken Ship Level

image A sample level with a sunken ship can be downloaded here.