MBZIRC Maritime Grand Challenge Simulator

This repository contains simulation software created for the MBZIRC Maritime Grand Challenge.

This simulator will be enhanced with additional features throughout the simulation phase of the MBZIRC Maritime Grand Challenge.

Installation

Prerequsite

• Platform: Ubuntu 20.04 (Focal)
• Ignition Fortress
• ROS2 Galactic

See Installation instructions for:

• Ignition Fortress: https://ignitionrobotics.org/docs/fortress

• ROS2 Galactic: https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html

Installation from Source

1. Create a colcon workspace and clone the mbzirc repo

   mkdir -p ~/mbzirc_ws/src
   cd ~/mbzirc_ws/src
   git clone https://github.com/osrf/mbzirc.git
   

2. Clone the ros_ign repo and check out the galactic branch

   cd ~/mbzirc_ws/src
   git clone https://github.com/ignitionrobotics/ros_ign.git -b galactic
   

3. Install dependencies using rosdep

   cd ~/mbzirc_ws
   rosdep update
   rosdep install -r --from-paths src -i -y --rosdistro galactic
   

   Make sure the ros-galactic-mavros-msgs package is installed, e.g.

   dpkg -l | grep ros-galactic-mavros-msgs
   

   If not, install it:

   sudo apt install ros-galactic-mavros-msgs
   

4. Build the workspace

   cd ~/mbzirc_ws
   IGNITION_VERSION=fortress colcon build --merge-install
   

   Note: Make sure to set the IGNITION_VERSION to fortress. This is needed for building the ros_ign package.

Docker setup

Docker images are available on Docker Hub: https://hub.docker.com/repository/docker/osrf/mbzirc

1. Pull the latest version of the docker image

   docker pull osrf/mbzirc:mbzirc_sim_latest
   

2. Clone the repo and launch a Docker container from the image using the run.bash script. Note: requires nvidia-docker2

   git clone https://github.com/osrf/mbzirc.git
   cd mbzirc/docker
   bash run.bash osrf/mbzirc:mbzirc_sim_latest  /bin/bash
   

To build a docker image of the simulator locally:

1. Navigate to the docker directory and build the mbzirc_sim Docker image

   cd mbzirc
   bash docker/build.bash mbzirc_sim
   

2. The process can take a few minutes. Once it is done, you can launch the Docker container:

   cd docker
   bash run.bash mbzirc_sim
   

Running the simulator

Please see the wiki: https://github.com/osrf/mbzirc/wiki