AUV 配置过程

此文章写在装好ROS的基础上

系统：Ubuntu18
ros:melodic

1. 创建项目

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_init_workspace

cd ..

catkin_make

source ~/catkin_ws/devel/setup.bash

2. 更改bashrc
   terminal里跑

gedit  ~/.bashrc

添加：

source /usr/share/gazebo-9/setup.sh
source /opt/ros/melodic/setup.bash
source $HOME/catkin_ws/devel/setup.bash

3. 下载UUV模型

sudo apt install ros-melodic-uuv-simulator

进入工作空间

cd ~/catkin_ws/src

从github主页git clone模型，也可以直接拷贝

git clone https://github.com/uuvsimulator/lauv_gazebo.git

4. 运行环境和加载AUV模型

roslaunch uuv_gazebo_worlds ocean_waves.launch
roslaunch lauv_description upload.launch mode:=default x:=0 y:=0 z:=0 namespace:=auv