stonefish-learning

Tutorials and Projects using the Stonefish library for underwater robotics simulation
Official Documnetation: Stonefish Doc Stonefish GitHub Repo : Stonefish GitHub

This repo is not intended to substitute that documentation, but to store a set of examples ready to run after building.
Furthermore, additional "experiments" on the concept described on the official doc will be stored here.

Note

The building configuration in the CMakeLists.txt works in my machine, installing the dependency and the Stonefish package as described here.
I hope that dependenacy issues and linker errors don't occur to those who refer to this examples ...

Stonefish Installation

Refer to the simple step-by-step guide from my fork of the official stonefish repo.
(The official installation guide is here, my step-by-step report is mainly for my machine reproducibility and all dependency installation process.
( I work with a Dell PRO Max 16 Laptop, NVIDIA RTX PRO 500 Blackwell Generation Laptop GPU, Intel Core Ultra 9, x86_64 (AMD 64bit), in an Ubnutu 24.04 OS partition, with a 6.14.0-33-generic linux kernel.)

Building and Running (Non ROS) Examples

Important

The building process for the Stonefish ROS2 examples inside stonefish_ws/src is described below.
It requires the installation of ROS2 and the stonefish_ros2 interface package.
Notice that the required stonefish_ros2 interface is already in stonefish_ws/src, therefore the installation is automatic when building the workspace.

After cloning this repo in your system:

git clone https://github.com/AlePuglisi/stonefish-learning.git

And moving inside the cloned repo directory

cd stonefish-learning

The buildiing process for every "test" is the classical C++ cmake building.

All the esamples are named as <example>_test, to build and run each one:

1. Create a build directory inside of the selected example

cd <example>_test
mkdir build && cd build 

2. Build the example (from <example>_test/build directory)

cmake .. && make

3. Once 100% make is reached, the exacutable is generated and is ready to run

./<example>_test

Building and Running ROS2 Examples

In the previous section you have cloned this repo in your system:

git clone https://github.com/AlePuglisi/stonefish-learning.git

You may be interested in working with ROS2 as the middleware of your Stonefish robotic simulation environemnt.
The author of Stonefish provide a ROS2 package for interfacing with the library and setting up a simulation, directly from a launch file and a scene descriptor.

In this repo the ROS2 workspace stonefish_ws is ready to use.

You just need to move to the stonefish_ws directory in your machine, and launch the usual ROS2 building command

colcon build 

The first time it may take a while in order to build also the stonefish_ros2 package, which depends on the Stonefish library that you have already installed.

Building or Running ERRORS...

In case of errors in the building process or when launching the executable, I'm reporting some of the one that I encountered and how I fix those in this readme.
Most of this errors are solved thanks to the issues opened on the official Stonefish repo, or caused by my wrong installation of packages and include files.

Learning Examples

This section briefly describe each example. Experiment with it to get a better understanding !

Basic C++ Examples

Physics Simulation with Simple Objects (falling_test)

Description

Underwater Simulation with Robot and Sensors (underwater_test)

Description

ROS2 Stonefish Simulations (stonefish_ws)

BlueROV2 Simple Simulation (bluerov2_sim)

Description

Learning in Progress ...