Vortex Stonefish Sim

This repository contains scenario files and models for simulation of the Vortex NTNU drones.

Installation

Dependencies

sudo apt update && sudo apt install -y libglm-dev libsdl2-dev libfreetype6-dev

Clone Stonefish

cd /opt
sudo git clone https://github.com/vortexntnu/stonefish.git
sudo sed -i '30i#include <cstdint>' stonefish/Library/include/sensors/Sample.h

Build

cd stonefish
sudo mkdir build
cd build
sudo cmake ..
sudo make -j4
sudo make install

Ensure correct path

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib

ROS 2 packages

These are the relevant ROS 2 packages for simulation.

• Stonefish ROS 2 package (Required)
• Vortex Stonefish Sim package (Required)
• Stonefish Interface package (Optional)

Usage

Launch a scenario:

ros2 launch stonefish_sim simulation.launch.py scenario:=tacc

Available scenarios are tacc, docking, pipeline, structure, orca_demo, freya_demo, orca_freya_demo.

If you have a less capable computer, other options are to use low rendering quality or turn off rendering completely. For low rendering quality use

ros2 launch stonefish_sim simulation.launch.py rendering_quality:=low

and for no rendering use

ros2 launch stonefish_sim simulation.launch.py rendering:=false

Creating Your Own Scenario

To create your own scenario file, follow these steps:

1. Define the Scenario File:

   • Create a new .scn file under the scenario folder.
   • This file will define the specific scenario you want to simulate.

2. Import Objects:

   • Use objects defined in .scn files located in the objects folder.
   • These objects can represent various elements of the simulation, such as obstacles or environmental features.

3. Include Data Files:

   • The object files in the objects folder can import data from files located in the data/object_files directory.
   • Typical files in data/object_files are .png textures and .obj files.

4. Define the Scenario Config

   • Additionally you have to create a config file in the config directory that defines transformations for components.
   • This step allows easy configuration of scenario parameters that will be useful for testing purposes.