VRX Example

This example illustrates a specific configuration similar to what some of the RobotX teams used in 2018. It includes:

• Fixed stern thrusters and a single lateral thuster - the 'T' propulsion configuration
• A standard set of onboard sensors
  • Two forward facing cameras (stereo)
  • One starboard facing camera
  • GPS
  • IMU
  • 3D LiDAR

Simulation

Start Gazebo and spawn WAM-V with propulsion and sensor configuration.

roslaunch vrx_gazebo vrx.launch

Visualization

After executing the previous command, open a new terminal and start RViz with example configuration file to read URDF and sensors. Follow these tutorials for an introduction to RViz.

roslaunch wamv_gazebo rviz_vrx.launch