Question 1

How to install usv_sim_lsa with all dependencies on Ubuntu?

Accepted Answer

Refer to the main documentation (getting_started.md) for step-by-step installation, which involves setting up Gazebo, ROS, and integrated packages like OpenFoam and HEC-RAS, but be prepared for a complex process due to multiple dependencies.

Question 2

usv_sim_lsa vs standard Gazebo for USV simulation – which is better?

Accepted Answer

usv_sim_lsa is better for high-fidelity environmental disturbances using HEC-RAS and OpenFoam, ideal for disaster scenario testing, while standard Gazebo offers simpler, more general simulations with less realism but easier setup.

Question 3

Can I use usv_sim_lsa for simulating drones or underwater vehicles?

Accepted Answer

Yes, the README mentions it can be adapted for other applications like drones or underwater vehicles, but it's primarily designed for USVs, so you'll need to modify models and disturbances accordingly.

Question 4

What ROS version is compatible with usv_sim_lsa?

Accepted Answer

The documentation doesn't specify, but as a research tool likely tied to Gazebo, it probably supports ROS versions common in robotics simulators; check the GitHub issues or documentation for updates on compatibility.

Question 5

How to add custom boat models to usv_sim_lsa?

Accepted Answer

You need to use geometric tools like Blender to model hull parts, then configure links and joints in xacro files (e.g., boat_subdivided4.xacro), as described in the Boat Models section, which requires Gazebo and robotics expertise.

Question 6

Is usv_sim_lsa suitable for real-time control testing?

Accepted Answer

No, due to the computational intensity of CFD-based disturbances, it's best for offline validation and research; real-time applications might face performance issues without optimization.

usv_sim_lsa

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