ArduSub Simulation

ArduSub + Gazebo simulation for BlueROV.

Clone the Repo

Clone this repo into ~/workspaces/bluerov_ws/src. If you prefer to place it in another location, edit the paths below.

Get the Dependencies

Install vcstool (add the ROS 2 apt repository first, example):

sudo apt-get update
sudo apt-get install python3-vcstool

Then get the dependencies:

cd ~/workspaces/bluerov_ws
vcs import src < src/ardusub_sim/dependencies.repos

Build the Image

cd ~/workspaces/bluerov_ws/src/ardusub_sim
./build.bash

This creates ardusub_sim:humble.

Start the Container

Install rocker: https://github.com/osrf/rocker#installation

Then start the container:

rocker --devices /dev/dri --x11 --network=host --ipc=host \
  --volume ~/workspaces/bluerov_ws:/root/HOST/bluerov_ws -- \
  ardusub_sim:humble

Build the ROS Packages

Inside the container:

cd /root/HOST/bluerov_ws
source /opt/ros/humble/setup.bash
colcon build --symlink-install --packages-up-to ardusub_interface bluerov_sim

Run the Sim

On a hybrid NVIDIA system, enable PRIME render offload before launching for better performance:

export __NV_PRIME_RENDER_OFFLOAD=1
export __GLX_VENDOR_LIBRARY_NAME=nvidia

These variables are not needed on systems where NVIDIA is already the default renderer. Confirm the selected renderer with:

glxinfo -B | grep -E "OpenGL vendor|OpenGL renderer"

Then launch the simulation:

source install/setup.bash
ros2 launch bluerov_sim bluerov_sim.launch.py \
  world_name:=dave_ocean_waves \
  ardusub:=true \
  mavros:=true \
  gui:=true

Simple Commands

In a second shell inside the same container:

rocker --devices /dev/dri --x11 --network=host --ipc=host \
  --volume ~/workspaces/bluerov_ws:/root/HOST/bluerov_ws -- \
  ardusub_sim:humble

cd /root/HOST/bluerov_ws
source /opt/ros/humble/setup.bash
source install/setup.bash

Check that MAVROS and Gazebo data are flowing:

ros2 topic echo /mavros/state --once
ros2 topic echo /mavros/local_position/pose --once
ros2 topic hz /bluerov/odom

Arm and switch to GUIDED:

ros2 service call /mavros/cmd/arming mavros_msgs/srv/CommandBool "{value: true}"
ros2 service call /mavros/set_mode mavros_msgs/srv/SetMode "{custom_mode: 'GUIDED'}"

Send one position setpoint:

ros2 topic pub --once /mavros/setpoint_position/local geometry_msgs/msg/PoseStamped \
  "{header: {frame_id: map}, pose: {position: {x: 1.0, y: 0.0, z: -1.0}, orientation: {w: 1.0}}}"

Useful launch switches:

odom_source:=ground_truth   # default
odom_source:=none           # no odometry adapter

Architecture

The simulation command and feedback loop is:

ROS command
→ MAVROS
→ ArduSub SITL
→ ArduPilot Gazebo plugin
→ Gazebo physics
→ odometry adapter
→ MAVROS and TF

Notes

• Map poses use ENU; depth below the surface has negative z.
• Host networking is required for the default MAVLink ports.
• If MAVROS is disconnected, check that ArduSub and the Gazebo bridge started.
• If local position is not updating, check the selected odometry adapter.