install_legacy.md

Legacy instalation procedure

You need Ubuntu Linux 16.04 since usv_sim uses ROS Kinetic. Since they are quite old software, we HIGHLY recommend to follow the docker-based installation procedure, which is also independent of the host setup you are currently using.

To install ROS Kinetic and some additional packages, run the following commands:

    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
    sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
    sudo apt-get update
    sudo apt-get install ros-kinetic-desktop-full ros-kinetic-control-* ros-kinetic-osg-markers ros-kinetic-move-base -y
    sudo rosdep init
    rosdep update
    sudo echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
    source ~/.bashrc

Now run the following commands to download the dependencies of usv_sim:

    sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential python-rosdep python-wxtools python-lxml python-pathlib python-h5py python-scipy python-geolinks python-gdal -y
    sudo apt-get install libfftw3-* libxml++2.6-* libsdl-image1.2-dev libsdl-dev -y

Installing

To run the packages of usv_sim you need a catkin workspace. If you already have a workspace you may jump to the Downloading and installing subsection.

Creating a catkin workspace

    source /opt/ros/kinetic/setup.bash
    mkdir -p ~/catkin_ws/src
    cd ~/catkin_ws/
    catkin_make

Downloading and installing usv_sim stack

Clone the usv_sim repository in the src folder of your catkin workspace:

    cd ~/catkin_ws/src
    git clone https://github.com/disaster-robotics-proalertas/usv_sim_lsa.git
    cd usv_sim_lsa
    git submodule init
    git submodule update

Run the instalation script:

    cd ~/catkin_ws/src/usv_sim_lsa
    chmod +x ./install_usv_sim 
    ./install_usv_sim

Install the dependencies:

    rosdep install --from-paths src --ignore-src --rosdistro kinetic -y

Compile the stack:

    cd ~/catkin_ws/
    catkin_make_isolated --install
    source install_isolated/setup.bash

To run a scenario:

    roslaunch usv_sim airboat_scenario1.launch parse:=true
    roslaunch usv_sim airboat_scenario1.launch parse:=false

The simulation might take some time to initialize if you're launching gazebo for the first time. If the simulation dosen't starts you should close it, run gazebo separately (command gazebo in the terminal), wait for gazebo to open (it is downloading some models), close gazebo and then try to run the scenario again.

Make sure your graphic card driver is up to date.