Running¶

Standard graphical simulator¶

To run the standard simulator you have to execute the stonefish_simulator node, passing the required command-line arguments:

$ ros2 run stonefish_ros2 stonefish_simulator <data_path> <description_path> <rate> <window_res_x> <window_res_y> <rendering_quality>

where:

data_path - the path to the simulation data directory
description_path - the path to the scenario description file
rate - the sampling rate of the simulation [Hz]
widnow_res - the resolution of the main simulator window [px]
rendering_quality - the quality of the rendering: low, medium or high.

Another option is to include the provided launch/stonefish_simulator.launch.py file in your own launch file. It is necessary to override the default arguments. See an example below:

from launch_ros.substitutions import FindPackageShare
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution

def generate_launch_description():
    return LaunchDescription([
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource([
                PathJoinSubstitution([
                    FindPackageShare('stonefish_ros2'),
                    'launch',
                    'stonefish_simulator.launch.py'
                ])
            ]),
            launch_arguments = {
                'simulation_data' : PathJoinSubstitution([FindPackageShare('my_package'), 'data']),
                'scenario_desc' : PathJoinSubstitution([FindPackageShare('my_package'), 'scenarios', 'simulation.scn']),
                'simulation_rate' : '300.0',
                'window_res_x' : '1200',
                'window_res_y' : '800',
                'rendering_quality' : 'high'
            }.items()
        )
    ])

Standard console-based simulator (no GPU)¶

To run the standard simulator without the components utilising the GPU and without the graphical window, you have to execute the stonefish_simulator_nogpu node, passing the required command-line arguments:

$ ros2 run stonefish_ros2 stonefish_simulator_nogpu <data_path> <description_path> <rate>

where:

data_path - the path to the simulation data directory
description_path - the path to the scenario description file
rate - the sampling rate of the simulation [Hz]

Another option is to include the provided launch/stonefish_simulator_nogpu.launch.py file in your own launch file. It is necessary to override the default arguments. See an example below:

from launch_ros.substitutions import FindPackageShare
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution

def generate_launch_description():
    return LaunchDescription([
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource([
                PathJoinSubstitution([
                    FindPackageShare('stonefish_ros2'),
                    'launch',
                    'stonefish_simulator_nogpu.launch.py'
                ])
            ]),
            launch_arguments = {
                'simulation_data' : PathJoinSubstitution([FindPackageShare('my_package'), 'data']),
                'scenario_desc' : PathJoinSubstitution([FindPackageShare('my_package'), 'scenarios', 'simulation.scn']),
                'simulation_rate' : '300.0',
            }.items()
        )
    ])

Implemented services¶

Some functionality of the simulator node is available through ROS2 services:

enable_currents - enable simulation of ocean currents (type std_srvs::srv::Trigger)
disable_currents - disable simulation of ocean currents (type std_srvs::srv::Trigger)