Pontus

Gazebo Simulation

• Launch Gazebo

ros2 launch pontus_bringup odom_simulation.launch.py

• If using Docker, open another interactive terminal session in the running container

docker exec -it nekton /bin/bash

• run remote control node

ros2 launch pontus_controller rc.launch.py auv:=sim

• To use teleop_twist_keyboard instead:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

This node takes keypresses from the keyboard and publishes them
as Twist/TwistStamped messages. It works best with a US keyboard layout.
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

For Holonomic mode (strafing), hold down the shift key:
---------------------------
   U    I    O
   J    K    L
   M    <    >

t : up (+z)
b : down (-z)

anything else : stop

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%

CTRL-C to quit

currently:      speed 0.5       turn 1.0