Clone Dave Repositories

Dave repositories

Project Dave consists of this repository along with other UUV components available online. Although some of the UUV components are available as packages, we recommend that you download them from source and work with them in your own uuv_ws ROS workspace so that you can modify your work.

Clone this repository and other relevant repositories provided under Field-Robotics-Lab:

cd ~/uuv_ws/src
git clone https://github.com/Field-Robotics-Lab/dave.git

Optionally, you may also wish to clone the following to enable additional functionality:

Underwater sensor models and plugins

  git clone https://github.com/Field-Robotics-Lab/nps_uw_sensors_gazebo.git

GTRI sonar plugin

Descriptions : GTRI based Sonar Notes and Description

git clone https://github.com/Field-Robotics-Lab/gtri_based_sonar.git

GPU Multibeam sonar (Requires NVIDIA graphics card with CUDA support. You may exclude this if not.)

For instructions and plugin details : Multibeam Forward Looking Sonar

git clone https://github.com/Field-Robotics-Lab/nps_uw_multibeam_sonar.git
git clone https://github.com/apl-ocean-engineering/acoustic_msgs.git

Underwater glider kinematics plugins

git clone https://github.com/Field-Robotics-Lab/glider_hybrid_whoi.git
git clone https://github.com/Field-Robotics-Lab/frl_msgs.git 

UUV Simulator repositories

Clone some of the UUV Simulator repositories:

cd ~/uuv_ws/src
git clone https://github.com/uuvsimulator/uuv_simulator.git
git clone https://github.com/uuvsimulator/uuv_manipulators.git

Optionally, to enable the ECA A9 AUV and RexRov models, clone:

  git clone https://github.com/uuvsimulator/eca_a9.git
  git clone https://github.com/uuvsimulator/rexrov2.git

WHOI DSL repositories

Clone repositories from WHOI DSL to use the DVL plugin

cd ~/uuv_ws/src
git clone https://bitbucket.org/whoidsl/ds_sim.git
git clone https://bitbucket.org/whoidsl/ds_msgs.git

Note: vcstool

Some users may prefer to use vcstool to clone and manage these repositories. Although this is not officially supported, vcstool creates an abstract layer over lower-level version control client tools like git, and can be convenient for working with several repositories at the same time. Please refer to the vcstool documentation for details and installation instructions.

There are community supported repos files that can be used with vcstool along with instructions.