DAVE

See the original project at http://dave-ros2.notion.site

Installation

1. Install DAVE Sim Interfaces

Ubuntu 22.04

See https://www.notion.so/nusbbas/Simulation-1673cacaefa180a5a61efbbbef7b6a23#1673cacaefa18009944ccfa6b8a8fffc

Ubuntu 24.04

Run dave_sim_install.sh. Then run gz_packages_install.sh.

2. Clone and Build AUV Description

Clone https://github.com/BumblebeeAS/auv4_description using under the sim-test branch:

git clone https://github.com/BumblebeeAS/auv4_description -b sim-test

Quickstart

See examples/bb_entrypoint/README.md

Issues

WSLg

When running Gazebo on WSL, some graphics are not well supported.

Quicklinks:

• https://devblogs.microsoft.com/commandline/d3d12-gpu-video-acceleration-in-the-windows-subsystem-for-linux-now-available/
• microsoft/WSL#11838
• https://askubuntu.com/questions/1514352/ubuntu-24-04-with-nvidia-driver-libegl-warning-egl-failed-to-create-dri2-scre

A fix would be to update the apt repository to use the latest mesa drivers. But do note that these versions may not be stable:

sudo add-apt-repository ppa:oibaf/graphics-drivers -y

sudo apt update
sudo apt install -y \
  mesa-utils \
  vainfo \
  mesa-va-drivers

If ppa:oibaf/graphics-drivers is not stable / does not work, try ppa:kisak/kisak-mesa.

A few other configs can be set as well (not tested):

MESA_D3D12_DEFAULT_ADAPTER_NAME: NVIDIA
XDG_RUNTIME_DIR: /mnt/wslg/runtime-dir
LD_LIBRARY_PATH: /usr/lib/wsl/lib
LIBVA_DRIVER_NAME: d3d12
# The env var DISPLAY in WSL Docker Desktop is wrong.
DISPLAY: :0
---
- /usr/lib/wsl:/usr/lib/wsl
- /mnt/wslg:/mnt/wslg
- /mnt/wslg/.X11-unix:/tmp/.X11-unix
---
privileged: true
group_add:
      - video