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You can specify the velocity input via the command below: rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x:

irobot create has a warning of loop running slowly I run my irobot create on the VWMare virtual machine. I already set t

I use command catkin_make_isolated in the terminal, error is shown below:

    CMake Error at cmake_install.cmake:111 (FILE):
      file INSTALL cannot set permissions on
      "/home/gupta/catkin_ws_2/install_isolated/lib/libuwsim.so"
make: *** [install] Error 1
<== Failed to process package 'uwsim': 
  Command '/home/gupta/catkin_ws_2/install_isolated/env.sh make install' returned non-zero exit status 2
Reproduce this error by running:
==> cd /home/gupta/catkin_ws_2/build_isolated/uwsim && /home/gupta/catkin_ws_2/install_isolated/env.sh make install
Command failed, exiting.

When I run the example_publisher.m, the function 'geometry_msgs_Twist' cannot be recognized shown as below

Undefined function 'geometry_msgs_Twist' for input arguments of type 'char'.

Error in example_subscriber (line 12) pid=geometry_msgs_Twist('connect','subscriber','example_module','twist');

I use the command "rosrun uwsim setVehicleVelocity /dataNavigator 1 0 0 0 0 0" to set constant speed to AUV, however, the return speed subscribed from /g500/dvl is oscillating between 0.6 and 1.2. By the way, the noise of dvl has been moved. Any help is appreciated. Thanks.

About the message from dvl, except the bottom track velocity (bi_x_axis, bi_y_axis and bi_z_axis) and header.seq, all other messages are zero. Do you know why? I think they should not be zero. We are doing a big underwater project based on UWSim, so I need to figure it out.

About the velocity message from dvl, after I set the std equal to zero, the absolute value of bi_x_axis and bi_y_axis is the same while the AUV is only moving along the x axis.

Hi,

I met a really weird condition: I give the thruster constant input to make the AUV move along the X axis. Then I subscribe the topic /g500/dvl and found that bi_y_axis (speed along y axis) change. It is not correct right. It should be close to zero.

Hi,

Follow the previous comment. The keyboard controller has been deleted from the launch file but the issue is still here. The launch file has been added to the question.

I want to set constant speed for AUV, however, uwsim is dynamic which means I am only able to give force to the AUV's thruster and the AUV is influenced by the water's friction force. If I could make the force equal to the friction force, then the AUV can move at a constant speed. After that I found that the friction force is controlled by a damping matrix on the dynamics_g500.yaml file, but I don't know the relationship between the damping matrix and the friction force. Can anyone help me? Thanks so much. The launch file is shown below:

<launch>
    <include file="$(find underwater_vehicle_dynamics)/launch/dynamics.launch">
       <arg name="namespace" value="g500" />
       <arg name="params" value="$(find underwater_vehicle_dynamics)/config/dynamics_g500.yaml" />
    </include>
    <rosparam param="/g500/dynamics/external_force_topic">g500/ForceSensor</rosparam>

    <arg name="scene" default="/home/gupta/catkin_ws_shen/src/underwater_simulation/uwsim/data/scenes/lbl.xml" />
    <node name="uwsim" pkg="uwsim" type="uwsim" args="--configfile $(arg scene)" output="screen" respawn="false" />
    <arg name="thrusters_topic" default="/g500/thrusters_input" />
</launch>