In the previous tutorial we created an empty WAM-V using the following lengthy command:

ros2 launch vrx_gazebo generate_wamv.launch.py component_yaml:=`pwd`/empty_component_config.yaml thruster_yaml:=`pwd`/empty_thruster_config.yaml wamv_target:=`pwd`/wamv_target.urdf wamv_locked:=False

This command launches a script called generate_wamv.launch.py which reads the configuration files you created and generates a urdf file for your WAM-V. After the urdf is generated, you can pass it to competition.launch.py to use it in your simulation.

Note that when competition.launch.py or any other simulation launch file is called, if the urdf parameter is given, it will use that file for the WAM-V configuration. If the urdf parameter is not given, then it will use the default configuration given in the launch file.

The generate_wamv.launch.py script takes the following parameters:

• thruster_yaml: input, the full path of the thruster YAML configuration file. If not given, uses the default thruster yaml*
• component_yaml: input, the full path of the component YAML configuration file. If not given, uses the default component yaml*
• wamv_target: output, the full path to the WAM-V URDF, which will be generated
• wamv_locked: input, a boolean determining whether the generated WAM-V should be locked in place. This feature is only used for the VRX competition and should be set to False in ordinary use.