cybership_common

Installation

Clone the repositor under ROS workspace

cd $ROS_WORKSPACE/src
git clone https://github.com/NTNU-MCS/cybership_software_suite

Get all the submodules

cd $ROS_WORKSPACE/src/cybership_common
git submodule update --init --recursive

Build a virtual environment

cd $ROS_WORKSPACE
python3 -m venv venv --system-site-packages --symlinks
source venv/bin/activate
touch venv/COLCON_IGNORE

Install python dependencies to virtual environment

cd $ROS_WORKSPACE
source venv/bin/activate
find src/cybership_common -name "requirements*txt" -exec pip install -r {} \;

Install dependencies

cd $ROS_WORKSPACE
rosdep install --from-paths src -i

Build the workspace

cd $ROS_WORKSPACE
colcon build --symlink-install

Source the workspace

source $ROS_WORKSPACE/venv/bin/activate
source $ROS_WORKSPACE/install/setup.bash

Usage

Simulation

To launch the simulation, run the following command:

ros2 launch cybership_simulator simulator.launch.py vessel_name:=voyager vessel_model:=voyager

Physical

To launch the physical, run the following command:

ros2 launch cybership_bringup voyager.launch.py vessel_name:=voyager vessel_model:=voyager