Merge branch 'main' of https://github.com/vortexntnu/vortex-freya-sim

vortexntnu · Aug 6, 2024 · bc9a8ae · bc9a8ae
2 parents e6eb05f + ae68f2d
commit bc9a8ae
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Showing 8 changed files with 1,824 additions and 46 deletions.
diff --git a/run_sim.sh b/run_sim.sh
@@ -11,7 +11,7 @@ tmux rename-window -t $SESSION_NAME:0 'asv_setup'
 tmux send-keys -t $SESSION_NAME:0 'ros2 launch asv_setup sim_freya.launch.py' C-m
 
 tmux new-window -t $SESSION_NAME:1 -n 'vrx_gz'
-tmux send-keys -t $SESSION_NAME:1 'ros2 launch vrx_gz competition.launch.py world:=sydney_regatta' C-m
+tmux send-keys -t $SESSION_NAME:1 'ros2 launch vrx_gz competition.launch.py world:=Njord_maneuvering' C-m
 
 tmux attach-session -t $SESSION_NAME
 

diff --git a/vortex_sim_interface/src/vortex_sim_interface.cpp b/vortex_sim_interface/src/vortex_sim_interface.cpp
@@ -44,8 +44,8 @@ class VortexSimInterface : public rclcpp::Node
 
         pcl_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("/ouster/points", qos_sensor_data);
 
-        map_origin_lat_ = -33.72242824301795;
-        map_origin_lon_ = 150.6740063854522;
+        map_origin_lat_ = -33.72213988382845;
+        map_origin_lon_ = 150.67413500672993;
 
         gps_sub_ = this->create_subscription<sensor_msgs::msg::NavSatFix>(
             "/wamv/sensors/gps/gps/fix", qos_sensor_data,

diff --git a/vrx_gz/launch/njord_colav_with_otter.launch.py b/vrx_gz/launch/njord_colav_with_otter.launch.py
@@ -44,7 +44,7 @@ def launch(context, *args, **kwargs):
         with open(config_file, 'r') as stream:
             models = Model.FromConfig(stream)
     else:
-        m = Model('wamv', 'wam-v', [-535, 197, 0, 0, 0, 0])
+        m = Model('wamv', 'wam-v', [-535, 197.5, 0, 0, 0, 0])
         if robot_urdf and robot_urdf != '':
             m.set_urdf(robot_urdf)
         models.append(m)
@@ -73,7 +73,7 @@ def generate_launch_description():
         # Launch Arguments
         DeclareLaunchArgument(
             'world',
-            default_value='sydney_regatta',
+            default_value='njord_colav_tasks',
             description='Name of world'),
         DeclareLaunchArgument(
             'sim_mode',