Run with VRX⚓︎

Documents

How to run demo⚓︎

Confirm dependencies⚓︎

• Docker: a container management tool
• Nvidia-toolkit: Nvidia's software for enabling GPU support from Docker images.
• Rocker: a Docker wrapper that will help build and run your Docker image so it is correctly configured for your local hardware.

Run the vrx simulator and lauch vrx simulation⚓︎

docker run --pull always --net=host --ipc=host --pid=host -it wamvtan/vrx:latest ros2 launch vrx_gz competition.launch.py world:=stationkeeping_task headless:=true urdf:=/home/config/wamv_target.urdf

you can change world:= for your purpose.

If you want to use cuda acceleration, please use this command.

docker run --gpus all --pull always --net=host --ipc=host --pid=host -it wamvtan/vrx:latest_cuda ros2 launch vrx_gz competition.launch.py world:=stationkeeping_task headless:=true urdf:=/home/config/wamv_target.urdf

Run vrx_bridgup launch⚓︎

• vrx_bridge_node exchange GNSS topic and Imu topic from vrx to localization system. Also, vrx recieves thruster and pose of thruster command through vrx_bridge
• The ekf.lauch commands geographic_conversion(geopose_converter_component) and robotx_ekf_component.

ros2 launch vrx_bridge vrx_bringup.launch.xml