This page describes usage for the reference configuration of Project DAVE. The reference configuration includes:

• An underwater environment, including an ocean floor.
• A UUV including thrusters, a manipulator arm, and sensors.
• A bar on the ocean floor that the UUV can grab.

Here is an example view:

Run the UUV simulation

roslaunch uuv_dave uuv_dave.launch

Control the UUV

The simulation may be controlled using a joystick. Joystick operation depends on joystick mode:

UUV body controls:

Oberon 7 Arm controls:

Control the Gazebo camera

Control Gazebo’s camera scene view using the mouse, see http://gazebosim.org/hotkeys.html.