patrykcieslak / stonefish_ros Goto Github PK

I am trying to launch the the files within cola2_stonefish, but encountering an error:
resource not found: cola2_lib_ros.

Where can find the package to get this lib?

Hi!

First time here! Loved the stonefish.

I have one issue with this repository and a couple of suggestions if I may. That is, for now, for the dependency management.

It is clear that stonefish should be build and installed on the target platform. It is not served by any buildfarms that both ROS and Ubuntu offers. rosdep install --from-paths src --ignore-src can find and install all the dependencies listed in package.xml file if they exist in the rosdep index.

I would simply suggest of removal this line:

Another suggestion that I would make is a long short one but it's worthwhile to try, It might have been discussed before hand, pardon me if that's the case.
The stonefish repository looks and feels very much production ready. It could easily be a part of ubuntu package archive. Then the installation process of stonefish could be simple as sudo apt install libstonefish-dev. The same thing can be achieved through PPAs as well. I could hustle with it if the idea is appealing enough but there are not many manhours to put on it.

Thanks!

Sensors that publish images should use the ROS image_transport API so that they automatically published compressed versions of the image along with the original raw version.

Example:

One of the topics currently published by a simulated FLS sensor is "/fls/display".
By using image_transport there would be, among others, an extra /fls/display/compressed" topic. This would make it easier to record to ROS bags without taking up large amounts of disk space.

Is there a detailed tutorial to implement the simulation in the paper？

Would it be possible to split out the Girona500 simulations into a package that would depend on this? As far as I can tell, that would get rid of all of the dependencies for this package except for cola2_lib. This would make it significantly easier for any outside users that want to use it with just their own AUV, while still allowing them to try the Girona500 and Sparus AUVs uising the other new package.

I'm trying to compile stonefish_ros and I get the error:

catkin_ws/src/stonefish_ros/include/G500AUVDynamicsManager.h:34:10: fatal error: Stonefish/sensors/scalar/FOG.h: No such file or directory
 #include <Stonefish/sensors/scalar/FOG.h>

Looking at the installed stonefish headers, there is no header named FOG.h in Stonefish/sensors/scalar, not in the repo either.

Hi!

I've followed the same steps to build and run stonefish and I've been able to package it in a docker container. The container works for machines with Ubuntu 22.04 out of the box, but I just found it does not in a Ubuntu 21.04 machine. This is the output in the console log:

process[stonefish_simulator-31]: started with pid [758]
[INFO] Welcome to Stonefish 1.3.                   
[CRITICAL] SDL2: Could not create GL context: BadValue (integer parameter out o$
 range for operation)                           
[stonefish_simulator-31] process has died [pid 758, exit code -6, cmd /opt/ros/$
ola2_ws/devel/lib/stonefish_ros/parsed_simulator /opt/ros/cola2_ws/src/cola2_st$
nefish/data /opt/ros/cola2_ws/src/cola2_stonefish/scenarios/sparus2_tank.scn 30$
.0 1200 800 high __name:=stonefish_simulator __log:=/home/ubuntu/.ros/log/6ac3d$
5e-c7cb-11ec-a76e-b06ebfbc057e/stonefish_simulator-31.log].
log file: /home/ubuntu/.ros/log/6ac3d35e-c7cb-11ec-a76e-b06ebfbc057e/stonefish_$
imulator-31*.log 

The PC I am running it on has an NVIDIA RTX 2070 with 8Gb graphics memory.
This is the output of nvidia-smi

+-----------------------------------------------------------------------------+
| NVIDIA-SMI 470.86       Driver Version: 470.86       CUDA Version: 11.4     |
|-------------------------------+----------------------+----------------------+
| GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
| Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
|                               |                      |               MIG M. |
|===============================+======================+======================|
|   0  NVIDIA GeForce ...  Off  | 00000000:01:00.0 Off |                  N/A |
| 23%   28C    P8    26W / 175W |     65MiB /  7973MiB |      0%      Default |
|                               |                      |                  N/A |
+-------------------------------+----------------------+----------------------+
                                                                               
+-----------------------------------------------------------------------------+
| Processes:                                                                  |
|  GPU   GI   CI        PID   Type   Process name                  GPU Memory |
|        ID   ID                                                   Usage      |
|=============================================================================|
+-----------------------------------------------------------------------------+

and this is the output of glx-info

$ glxinfo | grep "OpenGL version"
OpenGL version string: 3.1 Mesa 21.0.3

Is there something I am missing? Is the issue with "OpenGL 4.3" being the minimum version supported?

@patrykcieslak Do you think it would be possible to do some pre-processing of the .scn files to expand package-relative paths, e.g. <file path="$(find my_package_name)/data/mesh.obj"/>? That would make it much easier to define vehicles and scenarios from files located in different packages. If we can find out some way of doing it, I could try to implement it.

To get this package to compile, I needed to add the following line in my cmake:

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -DBT_EULER_DEFAULT_ZYX -DBT_USE_DOUBLE_PRECISION")

I guess these flags should get propagated by

add_compile_options(${Stonefish_CFLAGS})

but that does not seem to happen on my computer (Ubuntu 18.04).