Sailbot Simulator

This simulator is a web-app designed to visualize the behavior of our sailboat. It allows developers to test and visualize our navigation algorithms in a controlled environment with simulated sensor inputs.

There is no underlying physics engine. All simulation requires manually adjusting sensor state.

Prerequisites

• Be sure you have Node.js installed (v20.11.1 is what I use, other versions are probably OK but untested)
• The ros2_humble_custom docker image is built. (see step 2 of ROS setup)

Frontend Setup

1. Navigate to the sailbot-simulator project directory
2. Run npm install to install dependencies
3. Run npm run dev to start the local development server

Sailboat Code Setup

1. Navigate to the root of the sailbot directory.
2. On windows, start the docker image with docker run -it --rm -p 9089:7000 -p 9090:9090 --name ros2_container -v ${PWD}/src:/home/ros2_user/ros2_ws/src ros2_humble_custom (check ROS setup for your OS-specific command)
3. Run ros2 launch sailboat_launch sailboat_algo_sim.launch.py