Folders and files
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The new version of UWSim intregates a Network Simulator to be used along with the dccomms API. This simulator uses the NS3 libraries and the AquaSimNG as a NS3 module. The documentation related to simulate communications is a work in progress and will be included in the Wiki as soon as we can (please, be patience).
http://www.irs.uji.es/uwsim/wiki/index.php?title=Main_Page
- Prats, M.; Perez, J.; Fernandez, J.J.; Sanz, P.J., "An open source tool for simulation and supervision of underwater intervention missions", 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2577-2582, 7-12 Oct. 2012
- Centelles, D.; Soriano-Asensi, A.; Martí, J.V.; Marín, R.; Sanz, P.J. Underwater Wireless Communications for Cooperative Robotics with UWSim-NET. Appl. Sci. 2019, 9, 3526.
If you are getting the following error output when executing rosrun uwsim uwsim:
... data/objects/gun.osg Starting UWSim... Loading SimulatedDevices plugin: 'AcousticCommsDevice_Factory' Loading SimulatedDevices plugin: 'CustomCommsDevice_Factory' Loading SimulatedDevices plugin: 'DredgeTool_Factory' Loading SimulatedDevices plugin: 'ForceSensor_Factory' Loading SimulatedDevices plugin: 'SimDev_Echo_Factory' . Setting localized world: 7.1e-05s terminate called after throwing an instance of 'GeographicLib::GeographicErr' what(): File not readable /usr/share/GeographicLib/geoids/egm96-5.pgm /opt/ros/melodic/lib/uwsim/uwsim: line 23: 1452 Aborted (core dumped) rosrun uwsim uwsim_binary --dataPath ~/.uwsim/data $@
Run the following commands to fix it:
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh chmod u+x install_geographiclib_datasets.sh sudo ./install_geographiclib_datasets.sh