Running

Standard graphical simulator

To run the standard simulator you have to execute the parsed_simulator node, passing the required command line arguments:

$ rosrun stonefish_ros parsed_simulator <data_path> <description_filename> <rate> <width> <height> <graphics_quality>

where:

• data_path - the path to the simulation data directory

• description_filename - the path to the scenario description file

• rate - the sampling rate of the simulation [Hz]

• width & height - the resolution of the main simulator window [px]

• graphics_quality - the quality of the rendering: low, medium or high.

Another option is to include the provided launch/simulator.launch file in your own launch file. It is necessary to override the default arguments. See an example below:

<launch>
    <include file="$(find stonefish_ros)/launch/simulator.launch">
        <arg name="simulation_data" value="$(find my_package)/data"/>
        <arg name="scenario_description" value="$(find my_package)/scenarios/simulation.scn"/>
        <arg name="simulation_rate" value="300.0"/>
        <arg name="graphics_resolution" value="1200 800"/>
        <arg name="graphics_quality" value="high"/>
    </include>
</launch>

Note

This package does not include any examples of usage. The best way to learn how to use this package is to install the cola2_stonefish package, containing multiple, fully working examples of robots, developed by the CIRS Laboratory (University of Girona, Spain).

Implemented services

Some functionality of the simulator node is available through ROS services:

• enable_currents - enable simulation of ocean currents (type Trigger)

• disable_currents - disable simulation of ocean currents (type Trigger)