École Nationale Supérieure de
Techniques Avancées

Abstract

The first step to a simulation in Gazebo is understanding ROS, to make a correct maritime simulation it is necessary to include all expected forces and apply them to a boat, this was accomplished by using the VRX plugin. To allow for autopilot, a NAVIO2 running Ardupilot Rover software was used, and a plugin connecting the simulation with autopilot was implemented. Finally the boat was constructed with elements that the laboratory already had and we achieved a correct automatic driving. There were a lot of problems during development but they were quickly identified and solutions were proposed, but not implemented, because of a change in plans caused by the pandemic. Originally the project comprised on the construction of the boat, the closing of the laboratory shifted the objective to be only focused on the simulation, but the re-opening made the project to comprise of both aspects, simulation and construction.