Sailboat Simulator

The following repository provides the simulator of Sailboat RS750 in the GazeboSim simulator.
The simulator has been built based on the packages: asv_sim, asv_wave_sim and rs750.
The repository provides a consistent Docker environment with GazeboSim, Ardupilot (SITL). SITL allows you to simulate the vehicle hardware and firmware (ArduSub ) on your host directly.

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Expected results,

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Prerequisites

• Download and Install QGroundControl (optional).
• Install NVIDIA Container Toolkit to support Docker to access GPU (required).
• Repository has been tested on: Ubuntu 22.04, Ubuntu 24.04, ArchLinux (Kernel 6.8).

Build

git clone https://github.com/markusbuchholz/sailboat_simulator.git

cd sailboat_simulator/bluerov2_ardupilot_SITL/docker

sudo ./build.sh

Build in Docker

Adjust in run.sh.

local_gz_ws="/home/markus/sailboat_simulator/gz_ws"
local_SITL_Models="/home/markus/sailboat_simulator/SITL_Models"

sudo ./run.sh

colcon build

source install/setup.bash

cd ../gz_ws

colcon build --symlink-install --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTING=ON -DCMAKE_CXX_STANDARD=17

source install/setup.bash

source gazebo_exports.sh
 

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Launch Sailboat

ros2 launch move_blueboat mission_rs750.launch.py

Start SITL (optional)

cd ../ardupilot
sim_vehicle.py -v Rover -f sailboat --model JSON --map --console -l 55.99541530863445,-3.3010225004910683,0,0

Navigate RS750

In ROS 2 use the following commands (from GazeboSim launch Wave Control plugin),

The following publishers provide the possibility to change the position of main sail, fore sail, and rudder.

ros2 topic pub /main_sail_joint/cmd_pos std_msgs/msg/Float64 "{data: -5.0}"
ros2 topic pub /fore_sail_joint/cmd_pos std_msgs/msg/Float64 "{data: 2.0}"
ros2 topic pub /rudder_joint/cmd_pos std_msgs/msg/Float64 "{data: 3.0}"

In GazeboSim, use the following commands,

gz topic -t /main_sail_joint/cmd_pos -m gz.msgs.Double --pub "data: 2.0"
gz topic -t /rudder_joint/cmd_pos -m gz.msgs.Double --pub "data: -2.0"
gz topic -t /fore_sail_joint/cmd_pos -m gz.msgs.Double --pub "data: 2.0"

Available topics,

/fore_sail_joint/cmd_pos
/main_sail_joint/cmd_pos
/rudder_joint/cmd_pos
/world/waves/model/rs750/link/base_link/sensor/anemometer/anemometer
/world/waves/model/rs750/link/base_link/sensor/imu_sensor/imu
/world/waves/model/rs750/link/base_link/sensor/navsat_sensor/navsat