Racing Sparrow 750 Robot Model

A robot model based on designer Bryn Heveldt's Racing Sparrow 750 yacht http://www.racingsparrow.co.nz/.

Overview

These packages contain a robot model based upon the Racing Sparrow 750 model yacht. They include a robot model that may be simulated in Gazebo using the plugins from the asv_sim and asv_wave_sim projects. The model has been scaled by a factor of 3.2 to have a simulated LOA of approx. 2.4m.

Dependencies

You will need a working installation of Gazebo Garden in order to use this package. There is no dependency on ROS. The original version of this project archived in the branch gazebo11 depends on ROS Melodic.

The model uses plugins from the marine simulation libraries asv_sim and asv_wave_sim, and is controlled using ArduPilot which requires the ardupilot_gazebo plugin.

Installation

Create and configure a colcon workspace, clone and build the repo:

mkdir -p ~/gz_ws/src

# Clone dependencies
cd ~/gz_ws/src
git clone https://github.com/srmainwaring/asv_sim.git
git clone https://github.com/srmainwaring/asv_wave_sim.git
git clone https://github.com/ArduPilot/ardupilot_gazebo.git

# Clone this repo
git clone https://github.com/srmainwaring/rs750.git

# Build
cd ~/gz_ws
colcon build 

# Build the ArduPilot plugin
cd ~/gz_ws/ardupilot_gazebo
mkdir build && cd build
cmake ..
make

# Source the workspace
source install/setup.bash

# Add resources to the path
export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:\
$(pwd)/src/rs750/rs750_gazebo/models:\
$(pwd)/src/rs750/rs750_gazebo/worlds:\
$(pwd)/src/asv_wave_sim/gz-waves-models/models
$(pwd)/src/asv_wave_sim/gz-waves-models/world_models
$(pwd)/src/asv_wave_sim/gz-waves-models/worlds

# Add libraries to the plugin path
export GZ_SIM_SYSTEM_PLUGIN_PATH=$GZ_SIM_SYSTEM_PLUGIN_PATH:\
$(pwd)/install/lib
$(pwd)/src/ardupilot_gazebo/build

# Check the Gazebo environment variables
printenv | grep GZ

Usage

Run Gazebo

gz sim -v4 -r sailing_course.sdf

Run ArduPilot SITL

sim_vehicle.py -D -v Rover -f rover --model JSON --add-param-file=~/gz_ws/src/rs750/rs750_gazebo/config/rs750.param --console

License

This is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This software is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

Acknowledgments

The Racing Sparrow 750 was designed by Bryn Heveldt and is used here with his kind permission. The model plans and original 3D CAD files are available at: Racing Sparrow Model RC Yachts.