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vista_sim

Simulation package for UUV kinematics with Dubins path planning and drift dynamics.

Quick Start

Build

cd ~/projects/VISTA_ws
colcon build --packages-up-to demo_behaviors --symlink-install
source install/setup.bash

Launch

# Launch with default flat seabed
ros2 launch vista_sim vista_sim_launch.py

# Launch with a specific environment
ros2 launch vista_sim vista_sim_launch.py environment:=environment_50x50

# Launch without RViz
ros2 launch vista_sim vista_sim_launch.py start_rviz:=false

# Override velocity and time step
ros2 launch vista_sim vista_sim_launch.py drift_velocity:=0.1 constant_velocity:=1.0 time_step:=0.05

The environment argument selects a config yaml from sensor_model/config/ (omit the .yaml extension).

Environment Description
environment_basic Flat seabed, no objects (default)
environment_seabed_basic Procedural rolling seabed with roughness
environment_50x50 Flat 50×50m arena, four boxes at corners
env_50x50_centroidBox Flat 50×50m arena, single box offset from centroid
env_50x50_cluster Flat 50×50m arena, three boxes clustered mid-arena + one corner
env_50x50_cluster_seabed Procedural seabed with divot at cluster site, same box layout

Send a Goal (separate terminal)

source ~/projects/VISTA_ws/install/setup.bash
ros2 action send_goal --feedback /pose_to_pose uuv_interfaces/action/PoseToPose \
  "{goal_pose: {header: {frame_id: 'ned'}, pose: {position: {x: 25.0, y: 25.0, z: 0.0}, orientation: {w: 1.0}}}}"

Verify TF broadcast

ros2 run tf2_ros tf2_echo ned base_link
ros2 run tf2_ros tf2_monitor ned base_link

Expected: ~10 Hz, single publisher (vehicle_sim_server).

Nodes

Node Description
dubins_pose_to_pose_action_server Plans and executes Dubins paths to goal poses; sole owner of ned→base_link TF
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dubins_pose_to_pose_action_client Sends a parameterized goal to the action server

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Interfaces

Name Type Description
pose_to_pose Action (PoseToPose) Navigate to a goal pose

Parameters

Launch-controlled (set via launch file or command line)

Parameter Default Description
frame_id ned TF parent frame for base_link
time_step 0.1 Simulation dt (seconds)
constant_velocity 0.5 Navigation speed along Dubins paths (m/s)
drift_velocity 0.25 Idle drift speed between goals (m/s)
log_level info ROS log level for all Python nodes (debug/info/warn/error/fatal)

Hardcoded vehicle dynamics (in execute_cb)

These govern the SimpleVehicleModel and DubinsAirplanePath and require a code change to tune.

Parameter Value Description
turn_radius_m 0.5 Minimum Dubins turn radius (m); also used by the planner
look_ahead_dist 1.0 LOS follower look-ahead distance (m); affects path tracking tightness
speed_time_constant 2.0 First-order lag on surge speed response
yaw_time_constant 0.2 First-order lag on yaw response
pitch_time_constant 1.5 First-order lag on pitch response
max_acceleration_mps2 1.0 Surge acceleration limit (m/s²)
max_pitch_deg 15.0 Pitch angle limit (degrees); also used by the planner
pitch_proportional_gain 0.5 Proportional gain for depth/pitch control
roll_ratio 0.2 Roll coupling ratio during turns

Log level usage

# Default (info)
ros2 launch vista_sim vista_sim_launch.py

# Debug all Python nodes
ros2 launch vista_sim vista_sim_launch.py log_level:=debug

# Quiet (warnings/errors only)
ros2 launch vista_sim vista_sim_launch.py log_level:=warn

When launched via demo_behaviors/demo_mission_launch.py, the log_level arg is forwarded from the parent, so a single launch arg controls verbosity across the whole stack.