See this confluence page for more details. Run boat_simulator_ros_node.slx which subscribes to the /rudder_winch_actuation_angle topic and publishes to the /sensors topic. Follow MATLAB's follow up promots as well Update the add_custom_ros_msg.m file and run it. Type the commands mkdir -p catkin_ws/src cd catkin_ws catkin_make.Ĭlone the sailbot-msgs repository in the src folder: git clone. įind the location that you want to create a ROS workspace (eg. Install ROS Melodic on a Ubuntu 18.04 (or similar). To run the boat simulator as a standalone ROS node, complete the following: Open MATLAB and change your working directory to the boat-simulator folder that you just cloned This is free for UBC students, with instructions here The installer will ask you what toolboxes you want to install and be sure to install the ROS Toolbox. The model is based on Modeling and Nonlinear Heading Control of Sailing Yachts by Jerome Jouffroy. This repository contains MATLAB scripts and Simulink models for the purpose of creating a low-level controller for UBC Sailbot.