vortex-auv-simulator

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vortex-auv-simulator

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An extension of the UUV-Simulator for use with Vortex NTNUs autonomous vessels

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# Vortex AUV simulator: Gazebo UUV simulator rebuilt for Vortex NTNU purposes

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![MANTA](https://raw.githubusercontent.com/vortexntnu/vortex-auv-simulator/development/docs/manta_underwater_robosub.png)

## Prerequisites ##

Because of a change in uuv-simulator between Melodic and Noetic, this repo will stay Melodic for the time being. To run it locally, you would then need Ubuntu 18.04 and Melodic. Since vortex-auv is dependent on python3 and Noetic, this is not feasible in practice. Instead, use Docker and Compose.

To do anything useful with the simulator, you will need the vortex-auv repository on your machine as well. The nodes in vortex-auv will interact with the simulator and allow us to perform integration tests without needing the physical vessels and a real-world testing facility.

## 1. Launch the simulator with Docker Compose
If you have cloned this repo already, simply use

```
docker compose up
```
(or docker-compose up if you are still on V1) after navigating to the folder containing the compose file.

If you instead wish to run the simulator without needing to clone the repo, use the command

```
docker run --rm --privileged -it --network=host --user vortex -e DISPLAY=":0" ghcr.io/vortexntnu/vortex-auv-simulator:development
```

## 2. Customize the simulator ##
-------------------------
The section below outlines the various options you can set to customize/change the simulation environment. These are currently not settable from outside the docker container, so to proceed with these steps, you will have to override the entrypoint of the simulator container, by adding

```
entrypoint: ["/bin/bash", "-l"]

```
to the bottom of the `docker-compose.yml` file.

You may now run

```
docker compose up -d
```

then

```
docker compose exec vortex-simulator bash
```

You should now have a shell attached to the simulator container. Since we overwrote the entrypoint, you will now need to launch the simulator manually:

### Method 1. Using different launch files ###

1. Open a new terminal and launch a simulation. This will upload Manta (w/ sensor, camera, thrusters etc.), start the simulation world, upload any other object models, and launch robot localization i.e :
	```bash
	roslaunch simulator_launch cybernetics_sim.launch
	```
Builtin simulator worlds:
- basin_sim.launch
- cybernetics_sim.launch
- robosub2019_sim.launch
- robosub2022_sim.launch

ROS launch arguments:
| Argument    | Type  | Default | Description                                          |
|-------------|-------|---------|------------------------------------------------------|
| gui         | bool  | true    | Enable/Disable Gazebo GUI                            |
| camerafront | bool  | true    | Enable/Disable Front Camera view                     |
| cameraunder | bool  | false   | Enable/Disable Under AUV Camera view                 |
| paused      | bool  | false   | Enable to start the Simulation Paused                |
| set_timeout | bool  | false   | Enable timeout of Simulation (stop runtime)          |
| timeout     | float | 0.0     | Set the runtime period (only if set_timeout is true) |

### Method 2. Using combined Simulator and AUV-modules launch file ###

1. This will upload Manta (w/ sensor, camera, thrusters etc.), start the simulation world, upload any other object models, launch robot localization, start webViz server, AND launch all the modules required for operating Manta. i.e :
	```bash
	roslaunch simulator_launch combined_launch.launch
	```
To choose a different simulator world, use ROS launch argument 'pool'. Builtin pools:
- basin_pool
- cybernetics_pool
- robosub2019_pool
- robosub2022_pool

ROS launch arguments:
| Argument    | Type   | Default          | Description                                          |
|-------------|--------|------------------|------------------------------------------------------|
| pool        | string | cybernetics_pool | Choose the Simulator World                           |
| gui         | bool   | true             | Enable/Disable Gazebo GUI                            |
| camerafront | bool   | true             | Enable/Disable Front Camera view                     |
| cameraunder | bool   | false            | Enable/Disable Under AUV Camera view                 |
| paused      | bool   | false            | Enable to start the Simulation Paused                |
| set_timeout | bool   | false            | Enable timeout of Simulation (stop runtime)          |
| timeout     | float  | 0.0              | Set the runtime period (only if set_timeout is true) |
	
2. Execute your state machine of choice. i.e: 
	```bash
	roslaunch finite_state_machine simtest.launch
	```
Builtin finite state machines:
- simtest.launch
- pooltest.launch
- go_to_and_inspect_point.launch

### Method 3. Using Shell (bash) scripts ###

Shell-launch scripts can be used when the intention is to launch Gazebo Simulator, AUV modules, and a Finite State Machine (FSM) simultaneously. It spares a bit of time in case of repeated launches, and requires only a single terminal to launch everything.

1. Go to the simualator folder and mark the scripts as executables (only needs to be done once):
	```bash
	cd vortex_ws/src/Vortex-Simulator/launch_scripts_bash
	chmod u+r+x sim_launch_basic.sh sim_launch_fsm.sh sim_launch_fsm2.sh comb_launch_fsm.sh comb_launch_fsm2.sh
	```

2. Execute a launch script (must start from the same folder or using a full path). i.e: 
	```bash
	./sim_launch_basic.sh
	```

Available launch scripts and descriptions:
| Launch script       | Description                                                                                                             |
|---------------------|-------------------------------------------------------------------------------------------------------------------------|
| sim_launch_basic.sh | Equals starting the Simulator using method 1                                                                            |
| sim_launch_fsm.sh   | As above, and automatically kills ALL ROS launches and ALL Gazebo runtimes when the FSM terminates                      |
| sim_launch_fsm2.sh  | As above, but only kills launches and runtimes if the FSM terminates cleanly                                            |
| comb_launch_fsm.sh  | Equals starting the Simulator using method 2, automatically kills the Simulator and AUV modules when the FSM terminates |
| comb_launch_fsm2.sh | As above, but only stops the simulator and runtimes if the FSM terminates cleanly                                       |

Script CLI arguments:
| Argument            | Type   | Default                                                   | Description                                            |
|---------------------|--------|-----------------------------------------------------------|--------------------------------------------------------|
| -w or --world       | string | cybernetics_sim                                           | (only sim_launch_... scripts) Choose a simulator world |
| --pool              | string | cybernetics_pool                                          | (only comb_launch_... scripts) Choose a simulator pool |
| --fsm               | string | simtest                                                   | Choose a finite state machine                          |
| -g or --gui         | bool   | true                                                      | Enable/Disable Gazebo client (GUI)                     |
| -f or --camerafront | bool   | true                                                      | Enable/Disable Front Camera view                       |
| -u or --cameraunder | bool   | false                                                     | Enable/Disable Under AUV Camera view                   |
| -p or --paused      | bool   | false                                                     | Enable to start the Simulation Paused                  |
| --set_timeout       | bool   | false                                                     | Enable timeout of Simulation (stop runtime)            |
| -t or --timeout     | float  | 0.0                                                       | Set the runtime period (set_timeout must be true)      |
| -s or --sleep       | int    | 3 (sim_launch_... scripts)<br>5 (comb_launch_... scripts) | Time period between different ROS launches             |

## Credits

This package contains plugins to allow simulating UUVs with Gazebo. For installation and usage instructions, please refer to the [documentation pages](https://uuvsimulator.github.io/).
To send questions, report bugs or suggest improvements, please use the [Issues](https://github.com/uuvsimulator/uuv_simulator/issues) page.

If you are using this simulator for your publication, please cite:

```
@inproceedings{Manhaes_2016,
	doi = {10.1109/oceans.2016.7761080},
	url = {https://doi.org/10.1109%2Foceans.2016.7761080},
	year = 2016,
	month = {sep},
	publisher = {{IEEE}},
	author = {Musa Morena Marcusso Manh{\~{a}}es and Sebastian A. Scherer and Martin Voss and Luiz Ricardo Douat and Thomas Rauschenbach},
	title = {{UUV} Simulator: A Gazebo-based package for underwater intervention and multi-robot simulation},
	booktitle = {{OCEANS} 2016 {MTS}/{IEEE} Monterey}
}
```

In you are willing to contribute to this package, please check the instructions in [CONTRIBUTING](CONTRIBUTING.md)

## Purpose of the project

This software is a research prototype, originally developed for the EU ECSEL
Project 662107 [SWARMs](http://swarms.eu/).

The software is not ready for production use. However, the license conditions of the
applicable Open Source licenses allow you to adapt the software to your needs.
Before using it in a safety relevant setting, make sure that the software
fulfills your requirements and adjust it according to any applicable safety
standards (e.g. ISO 26262).

## License

UUV Simulator is open-sourced under the Apache-2.0 license. See the
[LICENSE](LICENSE) file for details.

For a list of other open source components included in UUV Simulator, see the
file [3rd-party-licenses.txt](3rd-party-licenses.txt).

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