The uvms_simlab project is an extension of the uvms-simulator that adds several advanced functionalities to enhance both simulation and real hardware operations.

---

Key Features

• Interactive Marker Control:
  Use RViz to interactively control the vehicle and its end-effector with 6-DOF markers that update in real time, which makes planning and adjustments intuitive.

• Self Collision Avoidance:
  Built-in algorithms automatically adjust robot paths during both interactive and automated maneuvers to prevent self collisions.

• Coverage Planning:
  Execute comprehensive coverage plans that take into account obstacles and the dynamics of the robot, ensuring complete workspace coverage.

• PS4 Joystick Teleoperation:
  Integrated support for PS4 controllers allows for seamless manual control via Bluetooth, ideal for teleoperation tasks.

• Real Hardware & Simulation Support:
  The project is designed to work in both simulated environments and on actual hardware, offering flexibility in testing and deployment.

---

Dependencies

Before getting started, ensure you have the following installed:

• pyPS4Controller:
  Install it via:

  sudo pip install pyPS4Controller

• scipy
• casadi

---

Quick Start Guide

1. Clone the Repository:
   Navigate to the src folder of your ROS2 workspace and clone the repository:

   cd /absolute/path/to/your_ros2_workspace/src
   git clone https://github.com/edxmorgan/uvms_simlab.git

   Then, go back to the workspace root:

   cd /absolute/path/to/your_ros2_workspace

2. Build the Workspace:
   Compile the project using:

   colcon build
   source install/setup.bash

---

Running the Simulation

• Interactive Markers Control (Recommended):
  Launch the simulation with full interactive control in RViz:

  ros2 launch ros2_control_blue_reach_5 robot_system_multi_interface.launch.py \
      use_manipulator_hardware:=false use_vehicle_hardware:=false \
      sim_robot_count:=1 task:=interactive

• Manual Mode (Joystick Control):
  For teleoperation via a PS4 joystick:

  ros2 launch ros2_control_blue_reach_5 robot_system_multi_interface.launch.py \
      use_manipulator_hardware:=false use_vehicle_hardware:=false \
      sim_robot_count:=1 task:=manual

• Coverage Execution:
  Execute coverage plans with integrated self collision avoidance:

  ros2 launch ros2_control_blue_reach_5 robot_system_multi_interface.launch.py \
      use_manipulator_hardware:=false use_vehicle_hardware:=false \
      sim_robot_count:=1 task:=coverage

---

Additional Notes

• Integration with uvms-simulator:
  This project assumes that uvms-simulator is already present and built in your ROS workspace.

• Contributions:
  Contributions are welcome. You can fork the repository and submit a pull request if you have improvements or fixes.