Autonomous Marine Exploration Water Simulation ROS GAZEBO

To simulate the project follow this instructions:

In a new terminal access your catkin workspace.

$ cd catkin_ws/src

$ git clone https://github.com/PanosMallioris/Autonomous-Marine-Exploration-Water-Simulation-ROS-GAZEBO.git

$ cd ..

$ catkin_make

If the catkin make is successfull proceed.

$ roscore

In a new terminal

$ roslaunch auv ocean.launch

This should open the simulation world

Tip! If you get an error like

[ocean.launch] is neither a launch file in package [auv] nor is [auv] a launch file name

The traceback for the exception was written to the log file

Try

$ source ~/catkin_ws/devel/setup.bash

and then launch again.

You will have to spawn the vessel in the desired position through the launch

In a new terminal

$ roslaunch auv spawn_auv.launch

If you want to initiate the python for the autonomous exploration, Make sure you pressed the play button on Gazebo: (Note the python script is made for the particular's map propotions and size its not perfect but its good enough for the proof of concept)

$ cd catkin_ws/src

$ python auv_safe.py

To stop the script press Control + C in the terminal.

If you want to teleop the robot through the world

$ roslauch auv auv_teleop.launch

FOR THE SIMULATION I MADE A SECOND WORLD YOU CAN ALSO TRY OUT

Follow the same instructions just change

$ roslaunch auv ocean.launch

to

$ roslaunch auv marine.launch

and run the python script

$ python auv_marine.py

instead.

Object Recognition

To implement object recognition you will have to download some extra packages in a new terminal

$ sudo apt-get install ros-kinetic-uvc-camera

$ sudo apt-get install ros-kinetic-find-object-2d

$ cd catkin_ws/src

$ git clone https://github.com/ros-autom/find-object.git

$ cd ..

$ catkin_make

If the catkin_make is successful in a new terminal we will run the object recognition nodes

$ roscore

$ rosrun uvc_camera uvc_camera_node

in a new terminal

$ rosrun find_object_2d find_object_2d image:=image_raw

This is the application for the object recognition that subscribes on your laptops camera. You can add and choose objects for recognition

For the simulation

if you want to recognize the human you will have to spawn the human in the map

$ roslaunch human spawn_human.launch

and change the camera subscription to vessel's camera this time

So you will have to run this instead

$ rosrun find_object_2d find_object_2d image:=auv/camera1/image_raw

Note that in order to recognize the human you have to add his picture first. So add the human.png from auv/map to your find object application