My internship deals with this problem of controlling sailboat robots, which I am working on with the University of Plymouth. The first part of this internship consists of making a numerical simulation on a computer. The ROS middleware and its graphical visualization tool were used to perform this simulation. The developed code was written in C++.

You need Ubuntu Linux (18.04 or 16.04 for example) and ROS melodic installed on your computer. To install ROS, follow the instructions on the official ROS website http://wiki.ros.org/melodic/Installation/Ubuntu

This repository is a ROS package. Here is a quick description of the folders.

• launch : launch file allowed to run ros node.
• meshs : CAO files
• src : Scripts contained in this repository

1. Create a ROS workspace mkdir -p ~/workspaceRos/src, cd ~/workspaceRos, catkin_make.

2. In a terminal under workspaceRos/src, type git clone https://github.com/mamadouDembele/sailboat.git

3. Finally type echo "source ~/workspaceRos/devel/setup.bash" >> ~/.bashrc You now have the package installed in workspaceRos/src/sailboat.

4. To test the different algorithms in the src folder, open 3 terminals. In the first terminal, type roscore. This will launch the master. In the second terminal type rviz. It will appear in front of you the visualization interface. Finally in the third terminal, put yourself in the launch directory with the command cd ~/workspaceRos/src/sailboat/launch/. Then type for example roslaunch line_follow.launch or roslaunch station_keeping.launch to launch nodes.

This project is licensed under the GNU General Public License v3.0.