Unmanned Surface Vehicle simulation on Gazebo with water current and winds

Home Page: http://gazebo-usv-simulation.rtfd.io/

License: Apache License 2.0

CMake 1.92% C++ 7.39% Shell 1.97% Python 41.10% GLSL 22.40% Ruby 25.22%

usv boat gazebo water-surface sailboat robotics-simulation ros-kinetic usv-simulator usv-sim environmental-modelling

usv_sim_lsa's Introduction

Simulated enviroment for Unmanned Surface Vehicles (usv_sim_lsa) -- 0.2

This simulator uses a combination of multiple physics packages to build a test environment for Unmanned Surface Vehicles (USV). We'll use it, at first, to develop and test control and trajectory strategies for USVs. but it can be easily adapted to other applications. It contains multiple robot models such as propeled boats(rudder boat, differential boat, airboat) and sailboat. Boats are affected by waves, wind and water currents. To do that, we curently use UWsim for water surface modeling, we also load HEC-RAS output files with water speed of river and channel simulations. We simulate wind current with OpenFoam simulator. All those features alow to disturb the movement of boats in a realistic way.

Prerequisites

You need Ubuntu Linux 16.04 since the current version of this simulator uses ROS Kinetic. To install ROS Kinetic and some additional packages, run the following commands:

    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
    sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
    sudo apt-get update
    sudo apt-get install ros-kinetic-desktop-full ros-kinetic-control-* ros-kinetic-osg-markers ros-kinetic-move-base -y
    sudo rosdep init
    rosdep update
    sudo echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
    source ~/.bashrc

Now run the following commands to download the dependencies of usv_sim:

    sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential python-rosdep python-wxtools python-lxml python-pathlib python-h5py python-scipy python-geolinks python-gdal -y
    sudo apt-get install libfftw3-* libxml++2.6-* libsdl-image1.2-dev libsdl-dev -y

Installing

To run the packages of usv_sim you need a catkin workspace. If you already have a workspace you may jump to the Downloading and installing subsection.

Creating a catkin workspace

    source /opt/ros/kinetic/setup.bash
    mkdir -p ~/catkin_ws/src
    cd ~/catkin_ws/
    catkin_make

Downloading and installing usv_sim stack

Clone the usv_sim repository in the src folder of your catkin workspace:

    cd ~/catkin_ws/src
    git clone https://github.com/disaster-robotics-proalertas/usv_sim_lsa.git
    cd usv_sim_lsa
    git submodule init
    git submodule update

Run the instalation script:

    cd ~/catkin_ws/src/usv_sim_lsa
    chmod +x ./install_usv_sim 
    ./install_usv_sim

Install the dependencies:

    rosdep install --from-paths src --ignore-src --rosdistro kinetic -y

Compile the stack:

    cd ~/catkin_ws/
    catkin_make_isolated --install
    source install_isolated/setup.bash

To run a scenario:

    roslaunch usv_sim airboat_scenario1.launch parse:=true
    roslaunch usv_sim airboat_scenario1.launch parse:=false

The simulation might take some time to initialize if you're launching gazebo for the first time. If the simulation dosen't starts you should close it, run gazebo separately (command gazebo in the terminal), wait for gazebo to open (it is downloading some models), close gazebo and then try to run the scenario again.

Make sure your graphic card driver is up to date.

Running the tests

On main folder of usv_sim_lsa, there are some scripts that run testing scenarios on Diluvio's River in Porto Alegre, Brazil. Each scenario is configured to test the boat control on executing some common maneuveurs (see image below). Besides that, you can run the following scripts:

scenario1: boat should navigate through two lines of buoys.
scenario2: boat should avoid colision with 3 buoys.
scenario3: boat should execute zigzag to cover an area.

To execute water simulation to those scenarios, you should run the script named waterCurrentDiluvio.

System Architecture

The main system architecture is composed of UWSIM and Gazebo. With some plugins, we can simulate in a realistic way the effects of waves, wind and water currents on several boat types. Above is presented the some topic interaction between our gazebo plugin named usv_sailing_plugin and ROS Nodes wind_current and wind_current.

Models

There are 4 boat models preconfigured in package usv_sim:

airboat: composed by one thruster above the hull. This model has greater advantaged to navigate on shallow waters.
differential boat: two thruster under water surface. This model has the simplest maneuverability.
rudder boat: one thruster and one rudder. One of the most common configuration presented in boats.
sailboat: one sail and one rudder.

The hull of all models above has been subdivided in 6 parts (see image above), so waves affects buoyancy of model in such way that boats present more realistic movement. If you want greater realism, you can subdivided the hull in more parts. To do that, you have to use geometric tools like Blender to model each part of hull. After that, you should configure links and joints in xacro files (like usv_sim/xacro/boat_subdivided4.xacro). As gazebo simulator combine fixed joints, you should define the joints of hull as of type revolution, but with zero value to upper and lower limits.

DISTURBANCE TYPES

The vehicles can be affected by 3 types of disturbances: wind currents, water currents and waves. Each kind of disturbance is presented below:

WATER CURRENT

To allow the water current affect vehicles differently across the space and time, the USV_SIM can load output simulations from the HEC-RAS hydrological simulator. The HEC-RAS is a CFD software (computational fluid dynamics) capable of modelling the water flow through natural rivers and channels. Below it is presented an image, and a video of HEC-RAS simulations used in USV_SIM. HEC-RAS can reproduce turbulence effects presented into rivers and other bodies of water.

VIDEO - CLICK ON IMAGE TO PLAY IT

WAVES

The integration with UWSim allows to reproduce waves to different configurations. Below is presented an differential boat travelling through waves.

WIND CURRENTS

The simulator can load wind currents generated by the CFD software OpenFoam, which it can solve continuum mechanics problems, and reproduce vortices and wind turbulence near buildings. Below it is presented some simulations that are avaliable in our robotic simulator.

P.S: The lines on the botton images have been integrated with runge kutta from wind current field.

VIDEO - CLICK ON IMAGE TO PLAY IT

HOW DISTURBANCES CAN AFFECT VEHICLES

The disturbances can affect vehicles in different ways:

NONE: vehicle will not be affected by the disturbance;
GLOBAL: vehicle will be affected by a global disturbance. It will not change in time and in space (same value to all over the place);
LOCAL: vehicle will be affected by a local disturbance. It can change in time and in space. Disturbance values will acquired from wind_current (OpenFoam Simulation) and water_current (HEC-RAS Simulation);

CONFIGURATION

You can configure how the wind current and how the water current will affect each vehicle. Thus you can define on ''windType'' and ''waterType'' parameter one of the following options: ''none'', ''global'', ''local''.

Below it is presented the portion of a launch file that it responsible to configure an airboat in the simulation. In this case, the ''windType'' and ''waterType'' was configurated with value ''local''.

        <include file="$(find usv_sim)/launch/models/spawn_airboat_validation.launch">
                <arg name="gui" value="$(arg gui)"/>
                <arg name="spawnGazebo" value="$(arg spawnGazebo)"/>
                <arg name="namespace" value="$(arg namespace)"/>
                <arg name="windType" value="local"/>
                <arg name="waterType" value="local"/>
        </include>

Below, it is present another example, where a differential boat (named ''diffboat1'') was configurated in such way that the wind current has a global value and will not change in time, and the water current was defined to ''none'', so the vehicle will not be affected by wind currents.

        <include file="$(find usv_sim)/launch/models/spawn_diffboat_validation.launch">
                <arg name="gui" value="$(arg gui)"/>
                <arg name="spawnGazebo" value="$(arg spawnGazebo)"/>
                <arg name="namespace" value="diffboat1"/>
                <arg name="windType" value="global"/>
                <arg name="waterType" value="none"/>
        </include>

VIDEOS

Differential boats sailing upstream - Global vs Local disturbances

Scenario 1

Scenario 2

GROUND TRUTH GENERATION

We have added support to generate ground truth data for algorithm visions. Below we present some result of our solution, you can execute an example by running the following commands:

        roslaunch usv_sim airboat_segmentation_2.launch parse:=true
        roslaunch usv_sim airboat_segmentation_2.launch parse:=false

As soon as both UWSIM show up, press c on your keyboard in each UWSim window, so the boat camera will be rendered.

//: # ((This is also a comment. AMA. Marcelo, nao sei se eh necessario falaar sobre GROUND TRUTH GENERATION no git. mais eh instalacao, como rodar exemplo, como modificar o controle, como parametrizar a simulacao, como criar um scenario, etc. coisas de usabilidade.)

Contributing

One can contribute to this project by deteting bugs, future features, and pull requests.

Versioning

v0.0.1 – Initial version submitted to IROS 2018

v0.2 - Version submitted to Sensors

Reference for citing USV_SIM

Paravisi, M.; H. Santos, D.; Jorge, V.; Heck, G.; Gonçalves, L. M.; Amory, A.; Unmanned Surface Vehicle Simulator with Realistic Environmental Disturbances; Journal Sensors, Volume 19, 2019. Available: http://www.mdpi.com/1424-8220/19/5/1068

Authors

Alexandre Amory (PUCRS University, Porto Alegre, Brazil)
Davi Henrique (UFRN University, Natal, Brazil)
Luiz Marcos Gonçalves (UFRN University, Natal, Brazil)
Marcelo Paravisi (IFRS, Osorio, Brazil; PUCRS University, Porto Alegre, Brazil)
Vitor Augusto Machado Jorge (PUCRS University, Porto Alegre, Brazil)

License

USV Simulator is open-sourced under the Apache-2.0 license. See the LICENSE file for details.

Acknowledgments

freefloating_gazebo
LiftDrag
UWsim - https://github.com/uji-ros-pkg/underwater_simulation
Openfoam - https://openfoam.org/
HEC-RAS - https://en.wikipedia.org/wiki/HEC-RAS
CAPES proalertas - https://lsa-pucrs.github.io/projects/pro-alertas

usv_sim_lsa's People

Contributors

Stargazers

Watchers

Forkers

stillkit kfriesth coral26 unmanned-surface-vehicle omarhamdoun elgarbe naushad-rahman matebearyuan 8bitscoding samanyuneelson sythong xkevincode wpsliu123 rezenders ningjize vectorzhou isaackay wangweiw4y4 crawlab vince-vd ctajiebap piraka9011 vic-haoxu lauriechen johannah wang20180729 zyjwall keaixiaopang crosslore qycqycqyc johngroves yuqizhi screw888 zizai jeroensmets sherryandjason aswatthafei epsilonorion marcosbsd wangzhao9562 hust-arms fangyuanfyo jason33wang rongrong1314 1170300131 lijianwen1997 mustafabayrak1 sia-underwater-robots edwinli-xuewei running-mars wangbo121 cyijie mihaieduard afearing qianxinjiaxiu shude-he anisluo unilasallerj sammi-phase2 nirobnabil alexasplund dt1729 shiangjuan felixsjo jiaweimeng jtdeve meshaolong mingijeong emaizzo dmulitianqi fangxuyang grisrobotics alvarodoro josealazaro jasonjabbour fanjing1112 mahyamkashani fmbarros zhouda98 momagdii seba-san spiritualfish lijian8 ucm-237 simao0620 dan-stevens069 lucasmrdt saionji flywe nwpuhe mesisia usvocean dontstarty z198509 cx0666 dashen96 cation123

usv_sim_lsa's Issues

Missing OpenFoam Datas?

I saw that you uploaded HEC-RAS data in google.drive?
Could you upload also OpenFoam datas?
If it is possible, could you upload not just result of analysis , also model of HEC-RAS and OpenFoam?
Thank you

Sailboat Navigation & Wind Current

Hi,

Thanks for all of your work on this project!

Do you have an example of running the wind current modules, and an example of a sailboat navigation module? When running the scenarios, my sailboat model slowly drifts downwind.

Solve lack of code reuse in uwsim scene description file

At the moment for each combination of scenario + usv we must create a xml file for uwsim.
I believe we can increase code reuse by using two files: a xml file describing the topics of each usv model and another describing the scenario, and importing the desired model in the scenario xml.
A change on how uwsim reads the xml is needed since xml import is sequential.

Failed to process package 'uwsim' while compiling the stack

Hey! I have problems compiling the stack. I tried all the suggestions in the previous issues, but did not find a solution. Could anyone please help me with this? Thank you in advance.

Error:
==> Processing catkin package: 'uwsim'
==> Building with env: '/home/jeroen/catkin_ws/install_isolated/env.sh'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in '/home/jeroen/catkin_ws/build_isolated/uwsim'
==> make -j8 -l8 in '/home/jeroen/catkin_ws/build_isolated/uwsim'
[ 0%] Built target uwsim_xacro_generated_to_devel_space_
[ 0%] Built target media_files
[ 6%] Built target followMarker
[ 6%] Built target spawnMarker
[ 10%] Building CXX object CMakeFiles/uwsim_plugins_simdev.dir/src/DredgeTool.cpp.o
[ 10%] Building CXX object CMakeFiles/uwsim_plugins_simdev.dir/src/SimDev_Echo.cpp.o
[ 12%] Building CXX object CMakeFiles/uwsim_plugins_simdev.dir/src/ForceSensor.cpp.o
[ 13%] Building CXX object CMakeFiles/uwsim.dir/src/SceneBuilder.cpp.o
[ 15%] Building CXX object CMakeFiles/uwsim.dir/src/SimulatedIAUV.cpp.o
[ 17%] Building CXX object CMakeFiles/uwsim.dir/src/VirtualCamera.cpp.o
[ 18%] Building CXX object CMakeFiles/uwsim.dir/src/ROSInterface.cpp.o
[ 20%] Building CXX object CMakeFiles/uwsim.dir/src/ViewBuilder.cpp.o
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:53:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimDev_Echo.h:5,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimDev_Echo.cpp:4:
/usr/include/libxml++-2.6/libxml++/parsers/saxparser.h:224:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr<xmlSAXHandler> sax_handler;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/get_pointer.hpp:14,
from /usr/include/boost/bind/mem_fn.hpp:25,
from /usr/include/boost/mem_fn.hpp:22,
from /usr/include/boost/bind/bind.hpp:26,
from /usr/include/boost/bind.hpp:22,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:35,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimDev_Echo.cpp:3:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:54:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimDev_Echo.h:5,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimDev_Echo.cpp:4:
/usr/include/libxml++-2.6/libxml++/parsers/textreader.h:260:10: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr propertyreader;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/get_pointer.hpp:14,
from /usr/include/boost/bind/mem_fn.hpp:25,
from /usr/include/boost/mem_fn.hpp:22,
from /usr/include/boost/bind/bind.hpp:26,
from /usr/include/boost/bind.hpp:22,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:35,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimDev_Echo.cpp:3:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:69:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimDev_Echo.h:5,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimDev_Echo.cpp:4:
/usr/include/libxml++-2.6/libxml++/relaxngschema.h:108:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/get_pointer.hpp:14,
from /usr/include/boost/bind/mem_fn.hpp:25,
from /usr/include/boost/mem_fn.hpp:22,
from /usr/include/boost/bind/bind.hpp:26,
from /usr/include/boost/bind.hpp:22,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:35,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimDev_Echo.cpp:3:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:70:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimDev_Echo.h:5,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimDev_Echo.cpp:4:
/usr/include/libxml++-2.6/libxml++/xsdschema.h:99:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/get_pointer.hpp:14,
from /usr/include/boost/bind/mem_fn.hpp:25,
from /usr/include/boost/mem_fn.hpp:22,
from /usr/include/boost/bind/bind.hpp:26,
from /usr/include/boost/bind.hpp:22,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:35,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimDev_Echo.cpp:3:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:73:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimDev_Echo.h:5,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimDev_Echo.cpp:4:
/usr/include/libxml++-2.6/libxml++/validators/relaxngvalidator.h:159:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/get_pointer.hpp:14,
from /usr/include/boost/bind/mem_fn.hpp:25,
from /usr/include/boost/mem_fn.hpp:22,
from /usr/include/boost/bind/bind.hpp:26,
from /usr/include/boost/bind.hpp:22,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:35,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimDev_Echo.cpp:3:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:75:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimDev_Echo.h:5,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimDev_Echo.cpp:4:
/usr/include/libxml++-2.6/libxml++/validators/xsdvalidator.h:149:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/get_pointer.hpp:14,
from /usr/include/boost/bind/mem_fn.hpp:25,
from /usr/include/boost/mem_fn.hpp:22,
from /usr/include/boost/bind/bind.hpp:26,
from /usr/include/boost/bind.hpp:22,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:35,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimDev_Echo.cpp:3:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:53:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ForceSensor.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ForceSensor.cpp:14:
/usr/include/libxml++-2.6/libxml++/parsers/saxparser.h:224:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr<xmlSAXHandler> sax_handler;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/get_pointer.hpp:14,
from /usr/include/boost/bind/mem_fn.hpp:25,
from /usr/include/boost/mem_fn.hpp:22,
from /usr/include/boost/bind/bind.hpp:26,
from /usr/include/boost/bind.hpp:22,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:35,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ForceSensor.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:54:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ForceSensor.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ForceSensor.cpp:14:
/usr/include/libxml++-2.6/libxml++/parsers/textreader.h:260:10: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr propertyreader;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/get_pointer.hpp:14,
from /usr/include/boost/bind/mem_fn.hpp:25,
from /usr/include/boost/mem_fn.hpp:22,
from /usr/include/boost/bind/bind.hpp:26,
from /usr/include/boost/bind.hpp:22,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:35,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ForceSensor.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:69:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ForceSensor.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ForceSensor.cpp:14:
/usr/include/libxml++-2.6/libxml++/relaxngschema.h:108:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/get_pointer.hpp:14,
from /usr/include/boost/bind/mem_fn.hpp:25,
from /usr/include/boost/mem_fn.hpp:22,
from /usr/include/boost/bind/bind.hpp:26,
from /usr/include/boost/bind.hpp:22,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:35,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ForceSensor.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:70:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ForceSensor.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ForceSensor.cpp:14:
/usr/include/libxml++-2.6/libxml++/xsdschema.h:99:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/get_pointer.hpp:14,
from /usr/include/boost/bind/mem_fn.hpp:25,
from /usr/include/boost/mem_fn.hpp:22,
from /usr/include/boost/bind/bind.hpp:26,
from /usr/include/boost/bind.hpp:22,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:35,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ForceSensor.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:53:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/DredgeTool.h:16,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/DredgeTool.cpp:15:
/usr/include/libxml++-2.6/libxml++/parsers/saxparser.h:224:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr<xmlSAXHandler> sax_handler;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:73:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ForceSensor.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ForceSensor.cpp:14:
/usr/include/libxml++-2.6/libxml++/validators/relaxngvalidator.h:159:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/get_pointer.hpp:14,
from /usr/include/boost/bind/mem_fn.hpp:25,
from /usr/include/boost/mem_fn.hpp:22,
from /usr/include/boost/bind/bind.hpp:26,
from /usr/include/boost/bind.hpp:22,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:35,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/DredgeTool.cpp:14:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/get_pointer.hpp:14,
from /usr/include/boost/bind/mem_fn.hpp:25,
from /usr/include/boost/mem_fn.hpp:22,
from /usr/include/boost/bind/bind.hpp:26,
from /usr/include/boost/bind.hpp:22,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:35,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ForceSensor.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:75:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ForceSensor.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ForceSensor.cpp:14:
/usr/include/libxml++-2.6/libxml++/validators/xsdvalidator.h:149:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/get_pointer.hpp:14,
from /usr/include/boost/bind/mem_fn.hpp:25,
from /usr/include/boost/mem_fn.hpp:22,
from /usr/include/boost/bind/bind.hpp:26,
from /usr/include/boost/bind.hpp:22,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:35,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ForceSensor.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:54:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/DredgeTool.h:16,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/DredgeTool.cpp:15:
/usr/include/libxml++-2.6/libxml++/parsers/textreader.h:260:10: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr propertyreader;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/get_pointer.hpp:14,
from /usr/include/boost/bind/mem_fn.hpp:25,
from /usr/include/boost/mem_fn.hpp:22,
from /usr/include/boost/bind/bind.hpp:26,
from /usr/include/boost/bind.hpp:22,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:35,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/DredgeTool.cpp:14:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:69:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/DredgeTool.h:16,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/DredgeTool.cpp:15:
/usr/include/libxml++-2.6/libxml++/relaxngschema.h:108:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/get_pointer.hpp:14,
from /usr/include/boost/bind/mem_fn.hpp:25,
from /usr/include/boost/mem_fn.hpp:22,
from /usr/include/boost/bind/bind.hpp:26,
from /usr/include/boost/bind.hpp:22,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:35,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/DredgeTool.cpp:14:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:70:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/DredgeTool.h:16,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/DredgeTool.cpp:15:
/usr/include/libxml++-2.6/libxml++/xsdschema.h:99:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/get_pointer.hpp:14,
from /usr/include/boost/bind/mem_fn.hpp:25,
from /usr/include/boost/mem_fn.hpp:22,
from /usr/include/boost/bind/bind.hpp:26,
from /usr/include/boost/bind.hpp:22,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:35,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/DredgeTool.cpp:14:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:73:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/DredgeTool.h:16,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/DredgeTool.cpp:15:
/usr/include/libxml++-2.6/libxml++/validators/relaxngvalidator.h:159:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/get_pointer.hpp:14,
from /usr/include/boost/bind/mem_fn.hpp:25,
from /usr/include/boost/mem_fn.hpp:22,
from /usr/include/boost/bind/bind.hpp:26,
from /usr/include/boost/bind.hpp:22,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:35,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/DredgeTool.cpp:14:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:75:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/DredgeTool.h:16,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/DredgeTool.cpp:15:
/usr/include/libxml++-2.6/libxml++/validators/xsdvalidator.h:149:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/get_pointer.hpp:14,
from /usr/include/boost/bind/mem_fn.hpp:25,
from /usr/include/boost/mem_fn.hpp:22,
from /usr/include/boost/bind/bind.hpp:26,
from /usr/include/boost/bind.hpp:22,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:35,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/DredgeTool.cpp:14:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:53:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/UWSimUtils.h:23,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/BulletPhysics.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/KinematicChain.h:22,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/URDFRobot.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ROSInterface.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ROSInterface.cpp:13:
/usr/include/libxml++-2.6/libxml++/parsers/saxparser.h:224:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr<xmlSAXHandler> sax_handler;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/KinematicChain.h:18,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/URDFRobot.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ROSInterface.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ROSInterface.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:54:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/UWSimUtils.h:23,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/BulletPhysics.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/KinematicChain.h:22,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/URDFRobot.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ROSInterface.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ROSInterface.cpp:13:
/usr/include/libxml++-2.6/libxml++/parsers/textreader.h:260:10: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr propertyreader;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/KinematicChain.h:18,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/URDFRobot.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ROSInterface.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ROSInterface.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:69:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/UWSimUtils.h:23,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/BulletPhysics.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/KinematicChain.h:22,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/URDFRobot.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ROSInterface.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ROSInterface.cpp:13:
/usr/include/libxml++-2.6/libxml++/relaxngschema.h:108:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/KinematicChain.h:18,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/URDFRobot.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ROSInterface.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ROSInterface.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:70:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/UWSimUtils.h:23,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/BulletPhysics.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/KinematicChain.h:22,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/URDFRobot.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ROSInterface.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ROSInterface.cpp:13:
/usr/include/libxml++-2.6/libxml++/xsdschema.h:99:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/KinematicChain.h:18,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/URDFRobot.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ROSInterface.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ROSInterface.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:73:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/UWSimUtils.h:23,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/BulletPhysics.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/KinematicChain.h:22,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/URDFRobot.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ROSInterface.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ROSInterface.cpp:13:
/usr/include/libxml++-2.6/libxml++/validators/relaxngvalidator.h:159:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/KinematicChain.h:18,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/URDFRobot.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ROSInterface.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ROSInterface.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:75:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/UWSimUtils.h:23,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/BulletPhysics.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/KinematicChain.h:22,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/URDFRobot.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ROSInterface.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ROSInterface.cpp:13:
/usr/include/libxml++-2.6/libxml++/validators/xsdvalidator.h:149:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/KinematicChain.h:18,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/URDFRobot.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ROSInterface.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ROSInterface.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:53:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/VirtualCamera.h:18,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/VirtualCamera.cpp:13:
/usr/include/libxml++-2.6/libxml++/parsers/saxparser.h:224:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr<xmlSAXHandler> sax_handler;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/libxml++-2.6/libxml++/parsers/saxparser.h:14,
from /usr/include/libxml++-2.6/libxml++/libxml++.h:53,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/VirtualCamera.h:18,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/VirtualCamera.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:54:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/VirtualCamera.h:18,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/VirtualCamera.cpp:13:
/usr/include/libxml++-2.6/libxml++/parsers/textreader.h:260:10: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr propertyreader;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/libxml++-2.6/libxml++/parsers/saxparser.h:14,
from /usr/include/libxml++-2.6/libxml++/libxml++.h:53,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/VirtualCamera.h:18,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/VirtualCamera.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:69:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/VirtualCamera.h:18,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/VirtualCamera.cpp:13:
/usr/include/libxml++-2.6/libxml++/relaxngschema.h:108:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/libxml++-2.6/libxml++/parsers/saxparser.h:14,
from /usr/include/libxml++-2.6/libxml++/libxml++.h:53,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/VirtualCamera.h:18,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/VirtualCamera.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:70:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/VirtualCamera.h:18,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/VirtualCamera.cpp:13:
/usr/include/libxml++-2.6/libxml++/xsdschema.h:99:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/libxml++-2.6/libxml++/parsers/saxparser.h:14,
from /usr/include/libxml++-2.6/libxml++/libxml++.h:53,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/VirtualCamera.h:18,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/VirtualCamera.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:73:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/VirtualCamera.h:18,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/VirtualCamera.cpp:13:
/usr/include/libxml++-2.6/libxml++/validators/relaxngvalidator.h:159:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/libxml++-2.6/libxml++/parsers/saxparser.h:14,
from /usr/include/libxml++-2.6/libxml++/libxml++.h:53,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/VirtualCamera.h:18,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/VirtualCamera.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:75:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/VirtualCamera.h:18,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/VirtualCamera.cpp:13:
/usr/include/libxml++-2.6/libxml++/validators/xsdvalidator.h:149:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl_;
^
In file included from /usr/include/c++/5/memory:81:0,
from /usr/include/libxml++-2.6/libxml++/parsers/saxparser.h:14,
from /usr/include/libxml++-2.6/libxml++/libxml++.h:53,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/VirtualCamera.h:18,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/VirtualCamera.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ViewBuilder.h:17:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ViewBuilder.cpp:13:
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene: In constructor ‘osgOcean::OceanScene::ViewData::ViewData()’:
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:199:18: warning: ‘osgOcean::OceanScene::ViewData::dirty’ will be initialized after [-Wreorder]
bool dirty;
^
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:189:55: warning: ‘osg::observer_ptrosgUtil::CullVisitor osgOcean::OceanScene::ViewData::cv’ [-Wreorder]
osg::observer_ptr< osgUtil::CullVisitor > cv;
^
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:162:13: warning: when initialized here [-Wreorder]
ViewData()
^
In file included from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:17:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SceneBuilder.cpp:13:
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene: In constructor ‘osgOcean::OceanScene::ViewData::ViewData()’:
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:199:18: warning: ‘osgOcean::OceanScene::ViewData::dirty’ will be initialized after [-Wreorder]
bool dirty;
^
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:189:55: warning: ‘osg::observer_ptrosgUtil::CullVisitor osgOcean::OceanScene::ViewData::cv’ [-Wreorder]
osg::observer_ptr< osgUtil::CullVisitor > cv;
^
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:162:13: warning: when initialized here [-Wreorder]
ViewData()
^
In file included from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:17:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimulatedIAUV.cpp:13:
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene: In constructor ‘osgOcean::OceanScene::ViewData::ViewData()’:
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:199:18: warning: ‘osgOcean::OceanScene::ViewData::dirty’ will be initialized after [-Wreorder]
bool dirty;
^
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:189:55: warning: ‘osg::observer_ptrosgUtil::CullVisitor osgOcean::OceanScene::ViewData::cv’ [-Wreorder]
osg::observer_ptr< osgUtil::CullVisitor > cv;
^
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:162:13: warning: when initialized here [-Wreorder]
ViewData()
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:53:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/osgOceanScene.h:31,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ViewBuilder.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ViewBuilder.cpp:13:
/usr/include/libxml++-2.6/libxml++/parsers/saxparser.h: At global scope:
/usr/include/libxml++-2.6/libxml++/parsers/saxparser.h:224:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr<xmlSAXHandler> sax_handler;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:39,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ViewBuilder.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ViewBuilder.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:53:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/osgOceanScene.h:31,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SceneBuilder.cpp:13:
/usr/include/libxml++-2.6/libxml++/parsers/saxparser.h: At global scope:
/usr/include/libxml++-2.6/libxml++/parsers/saxparser.h:224:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr<xmlSAXHandler> sax_handler;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:39,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SceneBuilder.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:54:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/osgOceanScene.h:31,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ViewBuilder.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ViewBuilder.cpp:13:
/usr/include/libxml++-2.6/libxml++/parsers/textreader.h:260:10: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr propertyreader;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:39,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ViewBuilder.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ViewBuilder.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:54:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/osgOceanScene.h:31,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SceneBuilder.cpp:13:
/usr/include/libxml++-2.6/libxml++/parsers/textreader.h:260:10: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr propertyreader;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:39,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SceneBuilder.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:69:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/osgOceanScene.h:31,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SceneBuilder.cpp:13:
/usr/include/libxml++-2.6/libxml++/relaxngschema.h:108:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:69:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/osgOceanScene.h:31,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ViewBuilder.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ViewBuilder.cpp:13:
/usr/include/libxml++-2.6/libxml++/relaxngschema.h:108:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:39,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SceneBuilder.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:70:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/osgOceanScene.h:31,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SceneBuilder.cpp:13:
/usr/include/libxml++-2.6/libxml++/xsdschema.h:99:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:39,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SceneBuilder.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:39,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ViewBuilder.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ViewBuilder.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:70:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/osgOceanScene.h:31,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ViewBuilder.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ViewBuilder.cpp:13:
/usr/include/libxml++-2.6/libxml++/xsdschema.h:99:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:39,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ViewBuilder.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ViewBuilder.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:73:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/osgOceanScene.h:31,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ViewBuilder.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ViewBuilder.cpp:13:
/usr/include/libxml++-2.6/libxml++/validators/relaxngvalidator.h:159:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:39,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ViewBuilder.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ViewBuilder.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:75:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/osgOceanScene.h:31,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ViewBuilder.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ViewBuilder.cpp:13:
/usr/include/libxml++-2.6/libxml++/validators/xsdvalidator.h:149:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:39,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ViewBuilder.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ViewBuilder.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:73:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/osgOceanScene.h:31,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SceneBuilder.cpp:13:
/usr/include/libxml++-2.6/libxml++/validators/relaxngvalidator.h:159:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:39,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SceneBuilder.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:75:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/osgOceanScene.h:31,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SceneBuilder.cpp:13:
/usr/include/libxml++-2.6/libxml++/validators/xsdvalidator.h:149:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:39,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SceneBuilder.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:53:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/osgOceanScene.h:31,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimulatedIAUV.cpp:13:
/usr/include/libxml++-2.6/libxml++/parsers/saxparser.h: At global scope:
/usr/include/libxml++-2.6/libxml++/parsers/saxparser.h:224:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr<xmlSAXHandler> sax_handler;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:39,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimulatedIAUV.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:54:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/osgOceanScene.h:31,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimulatedIAUV.cpp:13:
/usr/include/libxml++-2.6/libxml++/parsers/textreader.h:260:10: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr propertyreader;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:39,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimulatedIAUV.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:69:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/osgOceanScene.h:31,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimulatedIAUV.cpp:13:
/usr/include/libxml++-2.6/libxml++/relaxngschema.h:108:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:39,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimulatedIAUV.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:70:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/osgOceanScene.h:31,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimulatedIAUV.cpp:13:
/usr/include/libxml++-2.6/libxml++/xsdschema.h:99:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:39,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimulatedIAUV.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:73:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/osgOceanScene.h:31,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimulatedIAUV.cpp:13:
/usr/include/libxml++-2.6/libxml++/validators/relaxngvalidator.h:159:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:39,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimulatedIAUV.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /usr/include/libxml++-2.6/libxml++/libxml++.h:75:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevice.h:15,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimulatedDevices.h:14,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ConfigXMLParser.h:20,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/osgOceanScene.h:31,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimulatedIAUV.cpp:13:
/usr/include/libxml++-2.6/libxml++/validators/xsdvalidator.h:149:8: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr pimpl;
^
In file included from /usr/include/c++/5/bits/locale_conv.h:41:0,
from /usr/include/c++/5/locale:43,
from /usr/include/c++/5/iomanip:43,
from /usr/include/boost/math/policies/error_handling.hpp:12,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:39,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimulatedIAUV.cpp:13:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
template class auto_ptr;
^
In file included from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/BulletPhysics.h:26:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/KinematicChain.h:22,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/URDFRobot.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ROSInterface.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ROSInterface.cpp:13:
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene: In constructor ‘osgOcean::OceanScene::ViewData::ViewData()’:
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:199:18: warning: ‘osgOcean::OceanScene::ViewData::_dirty’ will be initialized after [-Wreorder]
bool _dirty;
^
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:189:55: warning: ‘osg::observer_ptrosgUtil::CullVisitor osgOcean::OceanScene::ViewData::_cv’ [-Wreorder]
osg::observer_ptr< osgUtil::CullVisitor > _cv;
^
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:162:13: warning: when initialized here [-Wreorder]
ViewData()
^
In file included from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/BulletPhysics.h:26:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/KinematicChain.h:22,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/URDFRobot.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ROSInterface.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SimDev_Echo.h:47,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/SimDev_Echo.cpp:4:
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene: In constructor ‘osgOcean::OceanScene::ViewData::ViewData()’:
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:199:18: warning: ‘osgOcean::OceanScene::ViewData::_dirty’ will be initialized after [-Wreorder]
bool _dirty;
^
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:189:55: warning: ‘osg::observer_ptrosgUtil::CullVisitor osgOcean::OceanScene::ViewData::_cv’ [-Wreorder]
osg::observer_ptr< osgUtil::CullVisitor > _cv;
^
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:162:13: warning: when initialized here [-Wreorder]
ViewData()
^
In file included from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/BulletPhysics.h:26:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/KinematicChain.h:22,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/URDFRobot.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ROSInterface.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ForceSensor.h:52,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ForceSensor.cpp:14:
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene: In constructor ‘osgOcean::OceanScene::ViewData::ViewData()’:
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:199:18: warning: ‘osgOcean::OceanScene::ViewData::_dirty’ will be initialized after [-Wreorder]
bool _dirty;
^
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:189:55: warning: ‘osg::observer_ptrosgUtil::CullVisitor osgOcean::OceanScene::ViewData::_cv’ [-Wreorder]
osg::observer_ptr< osgUtil::CullVisitor > _cv;
^
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:162:13: warning: when initialized here [-Wreorder]
ViewData()
^
In file included from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/BulletPhysics.h:26:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/KinematicChain.h:22,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/URDFRobot.h:17,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/ROSInterface.h:19,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/DredgeTool.h:95,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/DredgeTool.cpp:15:
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene: In constructor ‘osgOcean::OceanScene::ViewData::ViewData()’:
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:199:18: warning: ‘osgOcean::OceanScene::ViewData::_dirty’ will be initialized after [-Wreorder]
bool _dirty;
^
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:189:55: warning: ‘osg::observer_ptrosgUtil::CullVisitor osgOcean::OceanScene::ViewData::_cv’ [-Wreorder]
osg::observer_ptr< osgUtil::CullVisitor > _cv;
^
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:162:13: warning: when initialized here [-Wreorder]
ViewData()
^
In file included from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/include/uwsim/SceneBuilder.h:17:0,
from /home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/VirtualCamera.cpp:15:
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene: In constructor ‘osgOcean::OceanScene::ViewData::ViewData()’:
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:199:18: warning: ‘osgOcean::OceanScene::ViewData::_dirty’ will be initialized after [-Wreorder]
bool _dirty;
^
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:189:55: warning: ‘osg::observer_ptrosgUtil::CullVisitor osgOcean::OceanScene::ViewData::_cv’ [-Wreorder]
osg::observer_ptr< osgUtil::CullVisitor > _cv;
^
/home/jeroen/catkin_ws/devel_isolated/uwsim_osgocean/include/uwsim_osgocean/osgOcean/OceanScene:162:13: warning: when initialized here [-Wreorder]
ViewData()
^
virtual memory exhausted: Cannot allocate memory
virtual memory exhausted: Cannot allocate memory
virtual memory exhausted: Cannot allocate memory
virtual memory exhausted: Cannot allocate memory
virtual memory exhausted: Cannot allocate memory
virtual memory exhausted: Cannot allocate memory
/home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ForceSensor.cpp: In member function ‘virtual bool ForceSensor_Factory::applyConfig(SimulatedIAUV*, Vehicle&, SceneBuilder*, std::size_t)’:
/home/jeroen/catkin_ws/src/usv_sim_lsa/uwsim_resources/underwater_simulation/uwsim/src/ForceSensor.cpp:115:20: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for(int j=0;jurdf->link.size();j++)
^
CMakeFiles/uwsim.dir/build.make:182: recipe for target 'CMakeFiles/uwsim.dir/src/SimulatedIAUV.cpp.o' failed
make[2]: *** [CMakeFiles/uwsim.dir/src/SimulatedIAUV.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
CMakeFiles/uwsim.dir/build.make:326: recipe for target 'CMakeFiles/uwsim.dir/src/ROSInterface.cpp.o' failed
make[2]: *** [CMakeFiles/uwsim.dir/src/ROSInterface.cpp.o] Error 1
CMakeFiles/uwsim.dir/build.make:206: recipe for target 'CMakeFiles/uwsim.dir/src/VirtualCamera.cpp.o' failed
make[2]: *** [CMakeFiles/uwsim.dir/src/VirtualCamera.cpp.o] Error 1
CMakeFiles/uwsim.dir/build.make:398: recipe for target 'CMakeFiles/uwsim.dir/src/ViewBuilder.cpp.o' failed
make[2]: *** [CMakeFiles/uwsim.dir/src/ViewBuilder.cpp.o] Error 1
CMakeFiles/uwsim.dir/build.make:374: recipe for target 'CMakeFiles/uwsim.dir/src/SceneBuilder.cpp.o' failed
make[2]: *** [CMakeFiles/uwsim.dir/src/SceneBuilder.cpp.o] Error 1
CMakeFiles/uwsim_plugins_simdev.dir/build.make:110: recipe for target 'CMakeFiles/uwsim_plugins_simdev.dir/src/DredgeTool.cpp.o' failed
make[2]: *** [CMakeFiles/uwsim_plugins_simdev.dir/src/DredgeTool.cpp.o] Error 1
CMakeFiles/Makefile2:2126: recipe for target 'CMakeFiles/uwsim.dir/all' failed
make[1]: *** [CMakeFiles/uwsim.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[2]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:363: recipe for target 'CMakeFiles/uwsim_plugins_simdev.dir/all' failed
make[1]: *** [CMakeFiles/uwsim_plugins_simdev.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
<== Failed to process package 'uwsim':
Command '['/home/jeroen/catkin_ws/install_isolated/env.sh', 'make', '-j8', '-l8']' returned non-zero exit status 2

Reproduce this error by running:
==> cd /home/jeroen/catkin_ws/build_isolated/uwsim && /home/jeroen/catkin_ws/install_isolated/env.sh make -j8 -l8

Command failed, exiting.

Error when running polar diagram scripts for sailboat

Hello,
When I am running the sailboat scenario 1 I get an error that I attached as a picture. Also, the sailboat does not move as theoretically expected. I replaced the usv_base_ctrl and navigation scripts with respectively the sailboat_polar_diagram_control and sail_polar_diagram scripts.

Issue compiling stack

Had issue compiling stack. Noticed the error message said that osg/Node could not be located. I installed the osg package and am now met with this error message. Any help is appreciated!

catkin_make_isolated --install
Base path: /home/codymarquardt/autopilot_catkin_ws
Source space: /home/codymarquardt/autopilot_catkin_ws/src
Build space: /home/codymarquardt/autopilot_catkin_ws/build_isolated
Devel space: /home/codymarquardt/autopilot_catkin_ws/devel_isolated
Install space: /home/codymarquardt/autopilot_catkin_ws/install_isolated

~~  traversing 21 packages in topological order:
~~  - osg_markers
~~  - osg_utils
~~  - osg_interactive_markers
~~  - underwater_sensor_msgs
~~  - underwater_vehicle_dynamics
~~  - usv_base_ctrl
~~  - usv_metrics
~~  - usv_navigation
~~  - usv_sim
~~  - usv_sim_rviz
~~  - usv_tf
~~  - uwsim_bullet (plain cmake)
~~  - uwsim_osgocean (plain cmake)
~~  - uwsim_osgworks (plain cmake)
~~  - uwsim_osgbullet (plain cmake)
~~  - uwsim
~~  - visualization_osg
~~  - water_current
~~  - wind_current
~~  - foil_dynamics_plugin
~~  - freefloating_gazebo

==> Processing catkin package: 'osg_markers'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in '/home/codymarquardt/autopilot_catkin_ws/build_isolated/osg_markers'
==> make -j4 -l4 in '/home/codymarquardt/autopilot_catkin_ws/build_isolated/osg_markers'
[ 0%] Built target actionlib_msgs_generate_messages_lisp
[ 0%] Built target tf2_msgs_generate_messages_lisp
[ 0%] Built target tf2_msgs_generate_messages_eus
[ 0%] Built target actionlib_generate_messages_eus
[ 0%] Built target std_msgs_generate_messages_eus
[ 0%] Built target roscpp_generate_messages_lisp
[ 0%] Built target tf2_msgs_generate_messages_nodejs
[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target rosgraph_msgs_generate_messages_lisp
[ 0%] Built target roscpp_generate_messages_nodejs
[ 0%] Built target tf_generate_messages_eus
[ 0%] Built target rosgraph_msgs_generate_messages_nodejs
[ 0%] Built target rosgraph_msgs_generate_messages_cpp
[ 0%] Built target tf2_msgs_generate_messages_cpp
[ 0%] Built target tf_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_lisp
[ 0%] Built target geometry_msgs_generate_messages_lisp
[ 0%] Built target roscpp_generate_messages_eus
[ 0%] Built target roscpp_generate_messages_cpp
[ 0%] Built target geometry_msgs_generate_messages_eus
[ 0%] Built target actionlib_msgs_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_nodejs
[ 0%] Built target rosgraph_msgs_generate_messages_eus
[ 0%] Built target rosgraph_msgs_generate_messages_py
[ 0%] Built target tf_generate_messages_lisp
[ 0%] Built target roscpp_generate_messages_py
[ 0%] Built target tf_generate_messages_nodejs
[ 0%] Built target tf_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_cpp
[ 0%] Built target sensor_msgs_generate_messages_nodejs
[ 0%] Built target std_msgs_generate_messages_nodejs
[ 0%] Built target geometry_msgs_generate_messages_py
[ 0%] Built target sensor_msgs_generate_messages_cpp
[ 0%] Built target sensor_msgs_generate_messages_lisp
[ 0%] Built target sensor_msgs_generate_messages_py
[ 0%] Built target actionlib_generate_messages_cpp
[ 0%] Built target tf2_msgs_generate_messages_py
[ 0%] Built target actionlib_msgs_generate_messages_nodejs
[ 0%] Built target actionlib_msgs_generate_messages_eus
[ 0%] Built target actionlib_generate_messages_lisp
[ 0%] Built target actionlib_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target sensor_msgs_generate_messages_eus
[ 0%] Built target actionlib_generate_messages_nodejs
[ 0%] Built target actionlib_generate_messages_py
[ 28%] Building CXX object CMakeFiles/osg_markers.dir/src/marker_base.cpp.o
[ 28%] Building CXX object CMakeFiles/osg_markers.dir/src/shape_marker.cpp.o
[ 42%] Building CXX object CMakeFiles/osg_markers.dir/src/text_view_facing_marker.cpp.o
[ 57%] Building CXX object CMakeFiles/osg_markers.dir/src/triangle_list_marker.cpp.o
In file included from /usr/include/boost/math/special_functions/round.hpp:16:0,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/console.h:39,
from /opt/ros/kinetic/include/ros/assert.h:35,
from /home/codymarquardt/autopilot_catkin_ws/src/usv_sim_lsa/uwsim_resources/visualization_osg/osg_markers/src/triangle_list_marker.cpp:32:
/usr/include/boost/math/special_functions/fpclassify.hpp:293:5: error: expected initializer before ‘inline’
inline bool isfinite_impl(T x, native_tag const&)
^
In file included from /usr/include/boost/math/special_functions/round.hpp:16:0,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/console.h:39,
from /opt/ros/kinetic/include/ros/assert.h:35,
from /home/codymarquardt/autopilot_catkin_ws/src/usv_sim_lsa/uwsim_resources/visualization_osg/osg_markers/src/shape_marker.cpp:33:
/usr/include/boost/math/special_functions/fpclassify.hpp:293:5: error: expected initializer before ‘inline’
inline bool isfinite_impl(T x, native_tag const&)
^
In file included from /usr/include/boost/math/special_functions/round.hpp:16:0,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/console.h:39,
from /opt/ros/kinetic/include/ros/assert.h:35,
from /home/codymarquardt/autopilot_catkin_ws/src/usv_sim_lsa/uwsim_resources/visualization_osg/osg_markers/src/text_view_facing_marker.cpp:32:
/usr/include/boost/math/special_functions/fpclassify.hpp:293:5: error: expected initializer before ‘inline’
inline bool isfinite_impl(T x, native_tag const&)
^
/usr/include/boost/math/special_functions/fpclassify.hpp: In instantiation of ‘bool boost::math::isfinite(T) [with T = double]’:
/usr/include/boost/math/special_functions/round.hpp:27:31: required from ‘typename boost::math::tools::promote_args::type boost::math::detail::round(const T&, const Policy&, mpl_::false_) [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>; typename boost::math::tools::promote_args::type = double; mpl_::false_ = mpl_::bool_]’
/usr/include/boost/math/special_functions/round.hpp:65:24: required from ‘typename boost::math::tools::promote_args::type boost::math::round(const T&, const Policy&) [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>; typename boost::math::tools::promote_args::type = double]’
/usr/include/boost/math/special_functions/round.hpp:70:16: required from ‘typename boost::math::tools::promote_args::type boost::math::round(const T&) [with T = double; typename boost::math::tools::promote_args::type = double]’
/opt/ros/kinetic/include/ros/time.h:159:42: required from ‘T& ros::TimeBase<T, D>::fromSec(double) [with T = ros::Time; D = ros::Duration]’
/opt/ros/kinetic/include/ros/time.h:191:31: required from here
/usr/include/boost/math/special_functions/fpclassify.hpp:343:32: error: no matching function for call to ‘isfinite_impl(double, method)’
return detail::isfinite_impl(static_cast<value_type>(x), method());
^
/usr/include/boost/math/special_functions/fpclassify.hpp: In instantiation of ‘bool boost::math::isfinite(T) [with T = double]’:
/usr/include/boost/math/special_functions/round.hpp:27:31: required from ‘typename boost::math::tools::promote_args::type boost::math::detail::round(const T&, const Policy&, mpl_::false_) [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>; typename boost::math::tools::promote_args::type = double; mpl_::false_ = mpl_::bool_]’
/usr/include/boost/math/special_functions/round.hpp:65:24: required from ‘typename boost::math::tools::promote_args::type boost::math::round(const T&, const Policy&) [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>; typename boost::math::tools::promote_args::type = double]’
/usr/include/boost/math/special_functions/round.hpp:70:16: required from ‘typename boost::math::tools::promote_args::type boost::math::round(const T&) [with T = double; typename boost::math::tools::promote_args::type = double]’
/opt/ros/kinetic/include/ros/time.h:159:42: required from ‘T& ros::TimeBase<T, D>::fromSec(double) [with T = ros::Time; D = ros::Duration]’
/opt/ros/kinetic/include/ros/time.h:191:31: required from here
/usr/include/boost/math/special_functions/fpclassify.hpp:343:32: error: no matching function for call to ‘isfinite_impl(double, method)’
return detail::isfinite_impl(static_cast<value_type>(x), method());
^
/usr/include/boost/math/special_functions/fpclassify.hpp:300:17: note: candidate: template bool boost::math::detail::isfinite_impl(T, const boost::math::detail::generic_tag&)
inline bool isfinite_impl(T x, generic_tag const&)
^
/usr/include/boost/math/special_functions/fpclassify.hpp:300:17: note: candidate: template bool boost::math::detail::isfinite_impl(T, const boost::math::detail::generic_tag&)
inline bool isfinite_impl(T x, generic_tag const&)
^
/usr/include/boost/math/special_functions/fpclassify.hpp:300:17: note: template argument deduction/substitution failed:
/usr/include/boost/math/special_functions/fpclassify.hpp:300:17: note: template argument deduction/substitution failed:
/usr/include/boost/math/special_functions/fpclassify.hpp:343:32: note: cannot convert ‘method()’ (type ‘method {aka boost::math::detail::native_tag}’) to type ‘const boost::math::detail::generic_tag&’
return detail::isfinite_impl(static_cast<value_type>(x), method());
^
/usr/include/boost/math/special_functions/fpclassify.hpp:343:32: note: cannot convert ‘method()’ (type ‘method {aka boost::math::detail::native_tag}’) to type ‘const boost::math::detail::generic_tag&’
return detail::isfinite_impl(static_cast<value_type>(x), method());
^
/usr/include/boost/math/special_functions/fpclassify.hpp:307:17: note: candidate: template bool boost::math::detail::isfinite_impl(T, const boost::math::detail::generic_tag&)
inline bool isfinite_impl(T x, generic_tag const&)
^
/usr/include/boost/math/special_functions/fpclassify.hpp:307:17: note: candidate: template bool boost::math::detail::isfinite_impl(T, const boost::math::detail::generic_tag&)
inline bool isfinite_impl(T x, generic_tag const&)
^
/usr/include/boost/math/special_functions/fpclassify.hpp:307:17: note: template argument deduction/substitution failed:
/usr/include/boost/math/special_functions/fpclassify.hpp:307:17: note: template argument deduction/substitution failed:
/usr/include/boost/math/special_functions/fpclassify.hpp:343:32: note: cannot convert ‘method()’ (type ‘method {aka boost::math::detail::native_tag}’) to type ‘const boost::math::detail::generic_tag ’
return detail::isfinite_impl(static_cast<value_type>(x), method());
^
/usr/include/boost/math/special_functions/fpclassify.hpp:343:32: note: cannot convert ‘method()’ (type ‘method {aka boost::math::detail::native_tag}’) to type ‘const boost::math::detail::generic_tag ’
return detail::isfinite_impl(static_cast<value_type>(x), method());
^
/usr/include/boost/math/special_functions/fpclassify.hpp:318:17: note: candidate: template bool boost::math::detail::isfinite_impl(T, const boost::math::detail::ieee_tag&)
inline bool isfinite_impl(T x, ieee_tag const&)
^
/usr/include/boost/math/special_functions/fpclassify.hpp:318:17: note: candidate: template bool boost::math::detail::isfinite_impl(T, const boost::math::detail::ieee_tag&)
inline bool isfinite_impl(T x, ieee_tag const&)
^
/usr/include/boost/math/special_functions/fpclassify.hpp:318:17: note: template argument deduction/substitution failed:
/usr/include/boost/math/special_functions/fpclassify.hpp:318:17: note: template argument deduction/substitution failed:
/usr/include/boost/math/special_functions/fpclassify.hpp:343:32: note: cannot convert ‘method()’ (type ‘method {aka boost::math::detail::native_tag}’) to type ‘const boost::math::detail::ieee_tag&’
return detail::isfinite_impl(static_cast<value_type>(x), method());
^
/usr/include/boost/math/special_functions/fpclassify.hpp:343:32: note: cannot convert ‘method()’ (type ‘method {aka boost::math::detail::native_tag}’) to type ‘const boost::math::detail::ieee_tag&’
return detail::isfinite_impl(static_cast<value_type>(x), method());
^
/usr/include/boost/math/special_functions/fpclassify.hpp: In instantiation of ‘bool boost::math::isfinite(T) [with T = double]’:
/usr/include/boost/math/special_functions/round.hpp:27:31: required from ‘typename boost::math::tools::promote_args::type boost::math::detail::round(const T&, const Policy&, mpl_::false_) [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>; typename boost::math::tools::promote_args::type = double; mpl_::false_ = mpl_::bool_]’
/usr/include/boost/math/special_functions/round.hpp:65:24: required from ‘typename boost::math::tools::promote_args::type boost::math::round(const T&, const Policy&) [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>; typename boost::math::tools::promote_args::type = double]’
/usr/include/boost/math/special_functions/round.hpp:70:16: required from ‘typename boost::math::tools::promote_args::type boost::math::round(const T&) [with T = double; typename boost::math::tools::promote_args::type = double]’
/opt/ros/kinetic/include/ros/time.h:159:42: required from ‘T& ros::TimeBase<T, D>::fromSec(double) [with T = ros::Time; D = ros::Duration]’
/opt/ros/kinetic/include/ros/time.h:191:31: required from here
/usr/include/boost/math/special_functions/fpclassify.hpp:343:32: error: no matching function for call to ‘isfinite_impl(double, method)’
return detail::isfinite_impl(static_cast<value_type>(x), method());
^
/usr/include/boost/math/special_functions/fpclassify.hpp:300:17: note: candidate: template bool boost::math::detail::isfinite_impl(T, const boost::math::detail::generic_tag&)
inline bool isfinite_impl(T x, generic_tag const&)
^
/usr/include/boost/math/special_functions/fpclassify.hpp:300:17: note: template argument deduction/substitution failed:
/usr/include/boost/math/special_functions/fpclassify.hpp:343:32: note: cannot convert ‘method()’ (type ‘method {aka boost::math::detail::native_tag}’) to type ‘const boost::math::detail::generic_tag&’
return detail::isfinite_impl(static_cast<value_type>(x), method());
^
/usr/include/boost/math/special_functions/fpclassify.hpp:307:17: note: candidate: template bool boost::math::detail::isfinite_impl(T, const boost::math::detail::generic_tag&)
inline bool isfinite_impl(T x, generic_tag const&)
^
/usr/include/boost/math/special_functions/fpclassify.hpp:307:17: note: template argument deduction/substitution failed:
/usr/include/boost/math/special_functions/fpclassify.hpp:343:32: note: cannot convert ‘method()’ (type ‘method {aka boost::math::detail::native_tag}’) to type ‘const boost::math::detail::generic_tag ’
return detail::isfinite_impl(static_cast<value_type>(x), method());
^
/usr/include/boost/math/special_functions/fpclassify.hpp:318:17: note: candidate: template bool boost::math::detail::isfinite_impl(T, const boost::math::detail::ieee_tag&)
inline bool isfinite_impl(T x, ieee_tag const&)
^
/usr/include/boost/math/special_functions/fpclassify.hpp:318:17: note: template argument deduction/substitution failed:
/usr/include/boost/math/special_functions/fpclassify.hpp:343:32: note: cannot convert ‘method()’ (type ‘method {aka boost::math::detail::native_tag}’) to type ‘const boost::math::detail::ieee_tag&’
return detail::isfinite_impl(static_cast<value_type>(x), method());
^
CMakeFiles/osg_markers.dir/build.make:86: recipe for target 'CMakeFiles/osg_markers.dir/src/shape_marker.cpp.o' failed
make[2]: *** [CMakeFiles/osg_markers.dir/src/shape_marker.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
CMakeFiles/osg_markers.dir/build.make:134: recipe for target 'CMakeFiles/osg_markers.dir/src/triangle_list_marker.cpp.o' failed
make[2]: *** [CMakeFiles/osg_markers.dir/src/triangle_list_marker.cpp.o] Error 1
CMakeFiles/osg_markers.dir/build.make:110: recipe for target 'CMakeFiles/osg_markers.dir/src/text_view_facing_marker.cpp.o' failed
make[2]: *** [CMakeFiles/osg_markers.dir/src/text_view_facing_marker.cpp.o] Error 1
In file included from /usr/include/boost/math/special_functions/round.hpp:16:0,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/serialization.h:34,
from /opt/ros/kinetic/include/visualization_msgs/Marker.h:14,
from /home/codymarquardt/autopilot_catkin_ws/src/usv_sim_lsa/uwsim_resources/visualization_osg/osg_markers/include/osg_markers/marker_base.h:35,
from /home/codymarquardt/autopilot_catkin_ws/src/usv_sim_lsa/uwsim_resources/visualization_osg/osg_markers/src/marker_base.cpp:32:
/usr/include/boost/math/special_functions/fpclassify.hpp:293:5: error: expected initializer before ‘inline’
inline bool isfinite_impl(T x, native_tag const&)
^
/usr/include/boost/math/special_functions/fpclassify.hpp: In instantiation of ‘bool boost::math::isfinite(T) [with T = double]’:
/usr/include/boost/math/special_functions/round.hpp:27:31: required from ‘typename boost::math::tools::promote_args::type boost::math::detail::round(const T&, const Policy&, mpl_::false_) [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>; typename boost::math::tools::promote_args::type = double; mpl_::false_ = mpl_::bool_]’
/usr/include/boost/math/special_functions/round.hpp:65:24: required from ‘typename boost::math::tools::promote_args::type boost::math::round(const T&, const Policy&) [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>; typename boost::math::tools::promote_args::type = double]’
/usr/include/boost/math/special_functions/round.hpp:70:16: required from ‘typename boost::math::tools::promote_args::type boost::math::round(const T&) [with T = double; typename boost::math::tools::promote_args::type = double]’
/opt/ros/kinetic/include/ros/time.h:159:42: required from ‘T& ros::TimeBase<T, D>::fromSec(double) [with T = ros::Time; D = ros::Duration]’
/opt/ros/kinetic/include/ros/time.h:191:31: required from here
/usr/include/boost/math/special_functions/fpclassify.hpp:343:32: error: no matching function for call to ‘isfinite_impl(double, method)’
return detail::isfinite_impl(static_cast<value_type>(x), method());
^
/usr/include/boost/math/special_functions/fpclassify.hpp:300:17: note: candidate: template bool boost::math::detail::isfinite_impl(T, const boost::math::detail::generic_tag&)
inline bool isfinite_impl(T x, generic_tag const&)
^
/usr/include/boost/math/special_functions/fpclassify.hpp:300:17: note: template argument deduction/substitution failed:
/usr/include/boost/math/special_functions/fpclassify.hpp:343:32: note: cannot convert ‘method()’ (type ‘method {aka boost::math::detail::native_tag}’) to type ‘const boost::math::detail::generic_tag&’
return detail::isfinite_impl(static_cast<value_type>(x), method());
^
/usr/include/boost/math/special_functions/fpclassify.hpp:307:17: note: candidate: template bool boost::math::detail::isfinite_impl(T, const boost::math::detail::generic_tag&)
inline bool isfinite_impl(T x, generic_tag const&)
^
/usr/include/boost/math/special_functions/fpclassify.hpp:307:17: note: template argument deduction/substitution failed:
/usr/include/boost/math/special_functions/fpclassify.hpp:343:32: note: cannot convert ‘method()’ (type ‘method {aka boost::math::detail::native_tag}’) to type ‘const boost::math::detail::generic_tag ’
return detail::isfinite_impl(static_cast<value_type>(x), method());
^
/usr/include/boost/math/special_functions/fpclassify.hpp:318:17: note: candidate: template bool boost::math::detail::isfinite_impl(T, const boost::math::detail::ieee_tag&)
inline bool isfinite_impl(T x, ieee_tag const&)
^
/usr/include/boost/math/special_functions/fpclassify.hpp:318:17: note: template argument deduction/substitution failed:
/usr/include/boost/math/special_functions/fpclassify.hpp:343:32: note: cannot convert ‘method()’ (type ‘method {aka boost::math::detail::native_tag}’) to type ‘const boost::math::detail::ieee_tag&’
return detail::isfinite_impl(static_cast<value_type>(x), method());
^
CMakeFiles/osg_markers.dir/build.make:62: recipe for target 'CMakeFiles/osg_markers.dir/src/marker_base.cpp.o' failed
make[2]: *** [CMakeFiles/osg_markers.dir/src/marker_base.cpp.o] Error 1
CMakeFiles/Makefile2:111: recipe for target 'CMakeFiles/osg_markers.dir/all' failed
make[1]: *** [CMakeFiles/osg_markers.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
<== Failed to process package 'osg_markers':
Command '['make', '-j4', '-l4']' returned non-zero exit status 2

HAVE ANY SIMULATION RESULTS BEEN EXPROTED?

Hello, Dr.marceloparavisi
You have did a great job! It is very helpful to study the USV with current and wind.
I have tested one of the scenarios, and it succeeded. However, where could I find the simulation data, such as speed, roll, pitch, yaw and steer angle?
Is there a log to record the data?
How can I create a log and how many kind of data can be written into log?
Hopeful to get your reply!

add roll movement when hit by the waves

idea: divide the boats hull in 9 sub-hulls, in the shape of an rectangle (3 at each side and 1 on the center).

I faced error usv_water_current/GetSpeed.h: No such file or directory

Hello I'm trying to build and simulate your usv project...

I already set build environment for building your project. But when building usv_water_current the error occured.

Error message is

"usv_sim_lsa/src/usv_water_current/src/main.cpp:11:40: fatal error: usv_water_current/GetSpeed.h: No Such file or directory"

I'm trying to find GetSpeed.h header file in your project I cannot find...

Can you tell me how to solve that problem?

Thank you

catkin_make_isolated --install error

Facing trouble with making please do help

Git Repostiory Detached Head?

I am unsure what is going on, but it seems as if some of the latest commits, particularly in the projects under uwsim_resources/ and freefloating_gazebo_resources/ are not tied to any branch and are in a detached head state. It is causing problems with the repos. Seems like they were made by davidhsantos. Of course i could be wrong, but wanted to at least point it out.

Great project though!

the ocean face is static

Hello,
I clone the repo using the link by git clone, then execute the 'git submodule init' and 'git submodule update' command.
But the ocean face is static when I run the 'roslaunch ...'.

On my other computer, I clone the repo too. Download the kinetic-devel submodule repo(usv_sim, osgbullt and so on) by manual.
After make and install, the ocean face is dynamic when I run the 'roslaunch ...'.
But the terrain and the boat model link with base both are wrong.

what happens in it? Could you help me?

My computer environment (the other same):
OS: ubuntu 16.04
ROS ver: Kinetic (desktop-full)

Wing sail model

Hello,

I changed the sailboat model with the rigid triangle sail to a rigid wing sail. For this, I changed the equations for the lift and drag coefficients to the matching expressions in the foil dynamics plugin. The used airfoil is a NACA0018 profile. As can be seen in the video in the zip file below the new model falls to the side when the wind comes from the side. I am trying to make this boat react as described in a typical polar diagram for a wing sail. Could anyone maybe help me with what the issue is in this case? Thank you in advance!

simplescreenrecorder-2020-07-01_17.11.57.mkv.zip

Kind regards,
Jeroen Smets

Failed to process package 'uwsim'

I have met some errors when i executed command "catkin_make_isolated --install", please tell me how to solve it.

No Actions on Startup

First I can only start the system with parse set to false and when it starts up no actions are taken, I suppose this is not an issue itself but could be relevant. It looks like everything is online (gazebo, UWsim, etc.) however nothing is published to any rostopics and I can see no movement in the simulator. Any thoughts?

Kinetic server key is incorrect in documentation

Recently ROS kinetic changed their GPG key. Please see the ROS documentation for full details.
http://wiki.ros.org/kinetic/Installation/Ubuntu

The command to get the key should look like this
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

This is no longer valid:
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

error on "catkin_make_isolated --install"

Some questions in using environment disturbance.

Hello，
I want to change the water current and wind current to do some simulates in different environment. I followed the instructions in README, and changed the "watertype" variable in "spawn_ airboat.launch" to "local", but appeared “Failed to call service watercurrent airboat:: base_link” when I launch airboat_senerio1.

I try to solve this problem, I found that the service topic "waterCurrent" which used to provide water current was not launched. And the script "water_HECRAS" was not activated either. I can't found where to launch "water_HECRAS". On the other hand, I see in water_Hecras has lines about HDF files, but I did not find HDF files in the project.
I would like to ask how to use the "local pattern", and if this feature open source.

I saw scenes of different wind speeds and water velocities in the video in README, and I want to know where to change the wind speeds and water velocities in the src.

Thank you!

Update READMEme

We need update the readme to account our last modifications.

Remove old launchs and files

We need remove old files, like launch, xacro and so on...

unable to run simulation

I installed the files as per the process mentioned but when I am running the catkin_make_isolated --install its getting failed. Non of the sub modules is able to installed. When I tried to run catkin_make isolated --install after removing the files in uwsim_resources it works.
But when I run the roslaunch usv_sim airboat_scenario1.launch parse:true
its showing error:

REQUIRED process [scene_to_spawner-2] has died!
process has died [pid 18670, exit code 1, cmd /home/naveen/catkin1_ws/install_isolated/share/freefloating_gazebo/scripts/uwsim_scene_to_gazebo_spawner.py /home/naveen/catkin1_ws/install_isolated/share/usv_sim/launch/scenarios_launchs/airboat_scenario1.launch __name:=scene_to_spawner __log:=/home/naveen/.ros/log/b9521c36-2069-11e9-a161-080027a3cc96/scene_to_spawner-2.log].
log file: /home/naveen/.ros/log/b9521c36-2069-11e9-a161-080027a3cc96/scene_to_spawner-2*.log
Initiating shutdown!

Please suggest what should I do to install the files correctly or How can I run the simulation?

Can you tell me how to run the scripts?

I have finished
To run a scenario:

    roslaunch usv_sim airboat_scenario1.launch parse:=true
    roslaunch usv_sim airboat_scenario1.launch parse:=false

but I do not know how to run

scenario1: boat should navigate through two lines of buoys.
scenario2: boat should avoid colision with 3 buoys.
scenario3: boat should execute zigzag to cover an area.
please，thanks

Advice: use "roscore" before roslaunch

Hi, I find when I run
roslaunch usv_sim airboat_scenario1.launch parse:=false
It will give a lot errors. And gazebo start up failures many times.
I think it is because roslaunch will launch many nodes at the time. But roscore starting will cost some time and will not be ready for some nodes. This will lead to failure of gazebo and your simulation environment. So I advise to use "roscore" in another terminal
before "roslaunch usv_sim airboat_scenario1.launch parse:=false".
When you do it, problems will be solved.

Gazebo error on startup

I ran a scenarios using the commands:

roslaunch usv_sim airboat_scenario1.launch parse:=true
roslaunch usv_sim airboat_scenario1.launch parse:=false

gazebo opens but the error seen in the picture below.

I tried to open (without running any scenario), closed and re-run everything, didn´t work.

Thanks for your help.

Rudder isnt strong enough to rotate when thruster is max (

Navigation

Hi,Is the Navigation package useful?
How to use the Navigation package?

I have ros laucn error occur

I have this error and I change lanch file below

<!-- using parser  -->
<!-- <include file="$(find usv_sim)/launch/scenarios_launchs/airboat_scenario1_spawner.launch"/>  -->

and another error occur ...

please somesone help me...

some errors running the simulation scripts

I'm trying to run scenario1 with diff boat and get this error:

================================================================================REQUIRED process [scene_to_spawner-2] has died!
process has finished cleanly
log file: /home/elgarbe/.ros/log/039e7d8a-ed8d-11e8-b3d2-7c67a237b388/scene_to_spawner-2*.log
Initiating shutdown!
================================================================================

simulation and gazebo shows up, but the simulation does not start.

as a side note, when I run rosrun uwsim uwsim for the first time it install some package a throw an error:


Starting UWSim...
Loading SimulatedDevices plugin: 'DredgeTool_Factory'
Loading SimulatedDevices plugin: 'ForceSensor_Factory'
Loading SimulatedDevices plugin: 'SimDev_Echo_Factory'
Cannot locate file /home/elgarbe/usv_sim_lsa/install_isolated/share/uwsim/scenes/cirs.xml
terminate called after throwing an instance of 'pluginlib::LibraryUnloadException'
  what():  According to the loaded plugin descriptions the class ForceSensor_Factory with base class type uwsim::SimulatedDeviceFactory does not exist. Declared types are  DredgeTool_Factory ForceSensor_Factory SimDev_Echo_Factory
/home/elgarbe/usv_sim_lsa/install_isolated/lib/uwsim/uwsim: línea 23:  9101 Abortado                (`core' generado) rosrun uwsim uwsim_binary --dataPath ~/.uwsim/data $@

Error on Startup (can't find airboat_scenario1_spawner.launch)

Error like this ... last Issue(#16 ) I have same Error occur so I do below code

$ git pull
$ git submodule update

but... Error occur again... plz help me..

unable to run waterCurrentDiluvio

I get this error:

elgarbe@notebook:~/usv_sim_lsa$ ./waterCurrentDiluvio
('--------------------- Loading yaml file ', 'src/usv_water_current/maps/diluvio.yaml')
refX:  477092.4903
refY:  6675824.0
Abrindo arquivo...
Unable to open File: /home/paravisi/hecrasmaps/t3.p02.hdf
None
Unable to open file (Unable to open file: name = '/home/paravisi/hecrasmaps/t3.p02.hdf', errno = 2, error message = 'no such file or directory', flags = 0, o_flags = 0)

roslaunch error

I am trying to launch airboat_scenario1.launch. I am using ROS melodic on Linux 18.04. This is what happens:
I run: roslaunch usv_sim airboat_scenario1.launch parse:=true

... logging to /home/elmiqdad/.ros/log/ffd8010e-0fbd-11ea-818f-e4f89c388b23/roslaunch-elmiqdad-Inspiron-5558-23646.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://elmiqdad-Inspiron-5558:41343/

SUMMARY

PARAMETERS

/rosdistro: melodic
/rosversion: 1.14.3

NODES
/
scene_to_spawner (freefloating_gazebo/uwsim_scene_to_gazebo_spawner.py)

ROS_MASTER_URI=http://localhost:11311

process[scene_to_spawner-1]: started with pid [23661]
================================================================================REQUIRED process [scene_to_spawner-1] has died!
process has died [pid 23661, exit code 1, cmd /home/elmiqdad/usv_ws/install_isolated/share/freefloating_gazebo/scripts/uwsim_scene_to_gazebo_spawner.py /home/elmiqdad/usv_ws/install_isolated/share/usv_sim/launch/scenarios_launchs/airboat_scenario1.launch __name:=scene_to_spawner __log:=/home/elmiqdad/.ros/log/ffd8010e-0fbd-11ea-818f-e4f89c388b23/scene_to_spawner-1.log].
log file: /home/elmiqdad/.ros/log/ffd8010e-0fbd-11ea-818f-e4f89c388b23/scene_to_spawner-1*.log
Initiating shutdown!

[scene_to_spawner-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

From what I read from another issue, this output is what should happen. Then, following the README, I run:
roslaunch usv_sim airboat_scenario1.launch parse:=false

I get the following output with errors:

... logging to /home/elmiqdad/.ros/log/ffd8010e-0fbd-11ea-818f-e4f89c388b23/roslaunch-elmiqdad-Inspiron-5558-23675.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://elmiqdad-Inspiron-5558:42093/

SUMMARY

PARAMETERS

/airboat/controllers/config/body/cascaded_position: False
/airboat/controllers/config/body/command: body_command
/airboat/controllers/config/body/control_type: thruster
/airboat/controllers/config/body/dynamic_reconfigure: True
/airboat/controllers/config/body/state: state
/airboat/controllers/config/joints/cascaded_position: False
/airboat/controllers/config/joints/command: joint_command
/airboat/controllers/config/joints/dynamic_reconfigure: True
/airboat/controllers/config/joints/setpoint: joint_setpoint
/airboat/controllers/config/joints/state: joint_states
/airboat/controllers/fwd/position/d: 0.5
/airboat/controllers/fwd/position/i: 0.1
/airboat/controllers/fwd/position/p: 1
/airboat/controllers/fwd/velocity/d: 0.0
/airboat/controllers/fwd/velocity/i: 1
/airboat/controllers/fwd/velocity/p: 20
/airboat/controllers/fwd_joint/position/d: 0.5
/airboat/controllers/fwd_joint/position/i: 1
/airboat/controllers/fwd_joint/position/p: 100
/airboat/controllers/fwd_joint/velocity/d: 0.0
/airboat/controllers/fwd_joint/velocity/i: 1
/airboat/controllers/fwd_joint/velocity/p: 100
/airboat/controllers/pitch/position/d: 100
/airboat/controllers/pitch/position/i: 5
/airboat/controllers/pitch/position/p: 100
/airboat/controllers/pitch/velocity/d: 0
/airboat/controllers/pitch/velocity/i: 100
/airboat/controllers/pitch/velocity/p: 150
/airboat/controllers/roll/position/d: 100
/airboat/controllers/roll/position/i: 5
/airboat/controllers/roll/position/p: 100
/airboat/controllers/roll/velocity/d: 0
/airboat/controllers/roll/velocity/i: 100
/airboat/controllers/roll/velocity/p: 150
/airboat/controllers/x/position/d: 100
/airboat/controllers/x/position/i: 5
/airboat/controllers/x/position/p: 100
/airboat/controllers/x/velocity/d: 0
/airboat/controllers/x/velocity/i: 100
/airboat/controllers/x/velocity/p: 150
/airboat/controllers/y/position/d: 100
/airboat/controllers/y/position/i: 5
/airboat/controllers/y/position/p: 100
/airboat/controllers/y/velocity/d: 0
/airboat/controllers/y/velocity/i: 100
/airboat/controllers/y/velocity/p: 150
/airboat/controllers/yaw/position/d: 100
/airboat/controllers/yaw/position/i: 5
/airboat/controllers/yaw/position/p: 100
/airboat/controllers/yaw/velocity/d: 0
/airboat/controllers/yaw/velocity/i: 100
/airboat/controllers/yaw/velocity/p: 150
/airboat/controllers/z/position/d: 100
/airboat/controllers/z/position/i: 5
/airboat/controllers/z/position/p: 100
/airboat/controllers/z/velocity/d: 0
/airboat/controllers/z/velocity/i: 100
/airboat/controllers/z/velocity/p: 150
/airboat/robot_description: <?xml version="1....
/airboat/thrusters/robot_description: <?xml version="1....
/buoy1/robot_description: <?xml version="1....
/buoy10/robot_description: <?xml version="1....
/buoy2/robot_description: <?xml version="1....
/buoy3/robot_description: <?xml version="1....
/buoy4/robot_description: <?xml version="1....
/buoy5/robot_description: <?xml version="1....
/buoy6/robot_description: <?xml version="1....
/buoy7/robot_description: <?xml version="1....
/buoy8/robot_description: <?xml version="1....
/buoy9/robot_description: <?xml version="1....
/gazebo/enable_ros_network: True
/rosdistro: melodic
/rosversion: 1.14.3
/terrain_description: <?xml version="1....
/use_sim_time: True
NODES
/airboat/
heading_control (usv_base_ctrl/airboat_control_heading.py)
patrol (usv_navigation/patrol_pid_scene1.py)
pid_control (freefloating_gazebo/pid_control)
world_base_link (tf/static_transform_publisher)
/
airboat_spawner (gazebo_ros/spawn_model)
buoy10_spawner (gazebo_ros/spawn_model)
buoy1_spawner (gazebo_ros/spawn_model)
buoy2_spawner (gazebo_ros/spawn_model)
buoy3_spawner (gazebo_ros/spawn_model)
buoy4_spawner (gazebo_ros/spawn_model)
buoy5_spawner (gazebo_ros/spawn_model)
buoy6_spawner (gazebo_ros/spawn_model)
buoy7_spawner (gazebo_ros/spawn_model)
buoy8_spawner (gazebo_ros/spawn_model)
buoy9_spawner (gazebo_ros/spawn_model)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
terrain_spawner (gazebo_ros/spawn_model)
uwsim (uwsim/uwsim)
ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [23732]
process[gazebo_gui-2]: started with pid [23737]
process[uwsim-3]: started with pid [23741]
process[airboat_spawner-4]: started with pid [23744]
process[buoy1_spawner-5]: started with pid [23747]
process[buoy2_spawner-6]: started with pid [23748]
process[buoy3_spawner-7]: started with pid [23749]
process[buoy4_spawner-8]: started with pid [23750]
process[buoy5_spawner-9]: started with pid [23751]
process[buoy6_spawner-10]: started with pid [23752]
process[buoy7_spawner-11]: started with pid [23753]
process[buoy8_spawner-12]: started with pid [23754]
process[buoy9_spawner-13]: started with pid [23755]
process[buoy10_spawner-14]: started with pid [23756]
process[terrain_spawner-15]: started with pid [23761]
process[airboat/patrol-16]: started with pid [23762]
process[airboat/pid_control-17]: started with pid [23764]
process[airboat/heading_control-18]: started with pid [23766]
process[airboat/world_base_link-19]: started with pid [23767]
Parsing hydro model from namespace /airboat
[ INFO] [1574732271.180803633]: /airboat: adding fwd as a steering thruster
[ INFO] [1574732271.191367254]: Found quadratic linear drag
[ INFO] [1574732271.191599531]: Found quadratic angular damping
[ INFO] [1574732271.191765194]: Found quadratic linear drag
[ INFO] [1574732271.195236848]: Found quadratic angular damping
[ INFO] [1574732271.200424528]: Found quadratic linear drag
[ INFO] [1574732271.200759847]: Found quadratic angular damping
[ INFO] [1574732271.201966752]: Found quadratic linear drag
[ INFO] [1574732271.205964052]: Found quadratic angular damping
[ INFO] [1574732271.206210822]: Found quadratic linear drag
[ INFO] [1574732271.206378350]: Found quadratic angular damping
[ INFO] [1574732271.216010090]: Found quadratic linear drag
[ INFO] [1574732271.216175269]: Found quadratic angular damping

-----------------######################################################## _enable_gt_shader: 0Loading SimulatedDevices plugin: 'DredgeTool_Factory'
Loading SimulatedDevices plugin: 'ForceSensor_Factory'
Loading SimulatedDevices plugin: 'SimDev_Echo_Factory'
Failed to parse urdf file urdf/airboat_uwsim.urdf
terminate called after throwing an instance of 'pluginlib::LibraryUnloadException'
what(): According to the loaded plugin descriptions the class ForceSensor_Factory with base class type uwsim::SimulatedDeviceFactory does not exist. Declared types are DredgeTool_Factory ForceSensor_Factory SimDev_Echo_Factory
[airboat/pid_control-17] process has died [pid 23764, exit code -11, cmd /home/elmiqdad/usv_ws/install_isolated/lib/freefloating_gazebo/pid_control __name:=pid_control __log:=/home/elmiqdad/.ros/log/ffd8010e-0fbd-11ea-818f-e4f89c388b23/airboat-pid_control-17.log].
log file: /home/elmiqdad/.ros/log/ffd8010e-0fbd-11ea-818f-e4f89c388b23/airboat-pid_control-17*.log
[airboat/pid_control-17] restarting process
process[airboat/pid_control-17]: started with pid [23877]
Parsing hydro model from namespace /airboat
[ INFO] [1574732272.766350910]: /airboat: adding fwd as a steering thruster
[ INFO] [1574732272.801876530]: Found quadratic linear drag
[ INFO] [1574732272.805881940]: Found quadratic angular damping
[ INFO] [1574732272.813940945]: Found quadratic linear drag
[ INFO] [1574732272.814096816]: Found quadratic angular damping
[ INFO] [1574732272.814248923]: Found quadratic linear drag
[ INFO] [1574732272.814381791]: Found quadratic angular damping
[ INFO] [1574732272.814526693]: Found quadratic linear drag
[ INFO] [1574732272.815607788]: Found quadratic angular damping
[ INFO] [1574732272.823259054]: Found quadratic linear drag
[ INFO] [1574732272.823435323]: Found quadratic angular damping
[ INFO] [1574732272.823593198]: Found quadratic linear drag
[ INFO] [1574732272.823741460]: Found quadratic angular damping
Gazebo multi-robot simulator, version 9.11.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 9.11.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Wrn] [GuiIface.cc:202] g/gui-plugin is really loading a SystemPlugin. To load a GUI plugin please use --gui-client-plugin
/home/elmiqdad/usv_ws/install_isolated/lib/uwsim/uwsim: line 23: 23743 Aborted
(core dumped) rosrun uwsim uwsim_binary --dataPath ~/.uwsim/data $@

================================================================================REQUIRED process [uwsim-3] has died!
process has died [pid 23741, exit code 134, cmd /home/elmiqdad/usv_ws/install_isolated/lib/uwsim/uwsim false --dataPath /home/elmiqdad/usv_ws/install_isolated/share/usv_sim --configfile scenes/airboat_scenario1.xml name:=uwsim log:=/home/elmiqdad/.ros/log/ffd8010e-0fbd-11ea-818f-e4f89c388b23/uwsim-3.log].
log file: /home/elmiqdad/.ros/log/ffd8010e-0fbd-11ea-818f-e4f89c388b23/uwsim-3*.log
Initiating shutdown!

[airboat/world_base_link-19] killing on exit
[airboat/heading_control-18] killing on exit
[airboat/pid_control-17] killing on exit
[airboat/patrol-16] killing on exit
[terrain_spawner-15] killing on exit
Traceback (most recent call last):
File "/home/elmiqdad/usv_ws/install_isolated/share/usv_base_ctrl/scripts/airboat_control_heading.py", line 6, in
import tf
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf/init.py", line 30, in
from tf2_ros import TransformException as Exception, ConnectivityException,
LookupException, ExtrapolationException

This is a big chunk of the output I got, help would be much appreciated.
Thanks.

"catkin_make_isolated --install" with errors（solved）

Sorry, just because my virtual machine memory is too little to finish compile.

when I try to run "catkin_make_isolated --install", some thing was wrong.
system info : Linux ubuntu 4.15.0-29-generic #31~16.04.1-Ubuntu SMP Wed Jul 18 08:54:04 UTC 2018 x86_64 x86_64 x86_64 GNU/Linux
gcc info :

Using built-in specs.
COLLECT_GCC=gcc
COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/5/lto-wrapper
Target: x86_64-linux-gnu
Configured with: ../src/configure -v --with-pkgversion='Ubuntu 5.4.0-6ubuntu1~16.04.11' --with-bugurl=file:///usr/share/doc/gcc-5/README.Bugs --enable-languages=c,ada,c++,java,go,d,fortran,objc,obj-c++ --prefix=/usr --program-suffix=-5 --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-libmpx --enable-plugin --with-system-zlib --disable-browser-plugin --enable-java-awt=gtk --enable-gtk-cairo --with-java-home=/usr/lib/jvm/java-1.5.0-gcj-5-amd64/jre --enable-java-home --with-jvm-root-dir=/usr/lib/jvm/java-1.5.0-gcj-5-amd64 --with-jvm-jar-dir=/usr/lib/jvm-exports/java-1.5.0-gcj-5-amd64 --with-arch-directory=amd64 --with-ecj-jar=/usr/share/java/eclipse-ecj.jar --enable-objc-gc --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu
Thread model: posix
gcc version 5.4.0 20160609 (Ubuntu 5.4.0-6ubuntu1~16.04.11)

[ 66%] Building CXX object CMakeFiles/freefloating_gazebo_fluid.dir/src/freefloating_gazebo_fluid.cpp.o
/home/ubuntu/Documents/usv_sim_lsa-master/src/freefloating_gazebo/src/freefloating_gazebo_fluid.cpp: In member function ‘void gazebo::FreeFloatingFluidPlugin::ParseNewModel(const ModelPtr&)’:
/home/ubuntu/Documents/usv_sim_lsa-master/src/freefloating_gazebo/src/freefloating_gazebo_fluid.cpp:486:65: warning: unknown escape sequence: '\g'
           new_buoy_link->createSubscriberWaterCurrent(rosnode_, "\gazebo\current");
                                                                 ^
/home/ubuntu/Documents/usv_sim_lsa-master/src/freefloating_gazebo/src/freefloating_gazebo_fluid.cpp:486:65: warning: unknown escape sequence: '\c'
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-5/README.Bugs> for instructions.
CMakeFiles/freefloating_gazebo_fluid.dir/build.make:62: recipe for target 'CMakeFiles/freefloating_gazebo_fluid.dir/src/freefloating_gazebo_fluid.cpp.o' failed
make[2]: *** [CMakeFiles/freefloating_gazebo_fluid.dir/src/freefloating_gazebo_fluid.cpp.o] Error 4
CMakeFiles/Makefile2:3135: recipe for target 'CMakeFiles/freefloating_gazebo_fluid.dir/all' failed
make[1]: *** [CMakeFiles/freefloating_gazebo_fluid.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
<== Failed to process package 'freefloating_gazebo': 
  Command '['/home/ubuntu/Documents/usv_sim_lsa-master/install_isolated/env.sh', 'make', '-j1', '-l1']' returned non-zero exit status 2

Reproduce this error by running:
==> cd /home/ubuntu/Documents/usv_sim_lsa-master/build_isolated/freefloating_gazebo && /home/ubuntu/Documents/usv_sim_lsa-master/install_isolated/env.sh make -j1 -l1

Command failed, exiting.

Rudderboat rudder not functional

Running the rudderboat scenario 1, the boat is unable to steer using the rudder. The same happens with both gui set to true or false.

I attempted modifying the usv_sail_plugin parameters in rudderboat.xacro, but was unable to fix it.

Rudder isn't strong enough to rotate when thruster is max (+30) (SIMULATION)

testing: launch barcoLeme.launch; set thruster to max (+30); set the rudder to max (1,57); notice that the boat's heading dosent change.
now set thruster to zero; set rudder to max; set thruster to 30; now the boat achieve some angular velocity.

Foil dynamics formula

Hi, thank you for you nice work! I am trying to read the code and learn to use the simulation.
Here I find something confusing to me in the foil dynamics plugin: usv_dynamics/foil_dynamics_plugin/src/foil_dynamics_plugin.cpp

In the file, the lift and drag coefficients are defined as:
cl = this->mult_lift * sin (2*this->alpha);
cd = this->mult_drag * (1 - cos (2 * this->alpha));

But in your paper (Paravisi, Marcelo, et al. "Unmanned surface vehicle simulator with realistic environmental disturbances." Sensors 19.5 (2019): 1068.), the coefficients are:
CL = 1.5*(1-cos(2alpha))
CD = sin(2alpha)

It looks like interchanged.
Should I make any adjustment to the plugin before I simulate with it?

Issue compiling stack

Hi,

cd ~/catkin_ws/
catkin_make_isolated --install

When I run this on the terminal it gives me the following error

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
FFTW3F-3_INCLUDE_DIR
used as include directory in directory /home/danielfortunato/catkin_ws/src/usv_sim_lsa/uwsim_resources/uwsim_osgocean/src/osgOcean
used as include directory in directory /home/danielfortunato/catkin_ws/src/usv_sim_lsa/uwsim_resources/uwsim_osgocean/src/osgOcean
used as include directory in directory /home/danielfortunato/catkin_ws/src/usv_sim_lsa/uwsim_resources/uwsim_osgocean/src/osgOcean
used as include directory in directory /home/danielfortunato/catkin_ws/src/usv_sim_lsa/uwsim_resources/uwsim_osgocean/src/osgOcean
used as include directory in directory /home/danielfortunato/catkin_ws/src/usv_sim_lsa/uwsim_resources/uwsim_osgocean/src/osgOcean
used as include directory in directory /home/danielfortunato/catkin_ws/src/usv_sim_lsa/uwsim_resources/uwsim_osgocean/src/osgOcean
used as include directory in directory /home/danielfortunato/catkin_ws/src/usv_sim_lsa/uwsim_resources/uwsim_osgocean/src/osgOcean
used as include directory in directory /home/danielfortunato/catkin_ws/src/usv_sim_lsa/uwsim_resources/uwsim_osgocean/src/osgOcean
FFTW3F-3_LIBRARY
linked by target "osgOcean" in directory /home/danielfortunato/catkin_ws/src/usv_sim_lsa/uwsim_resources/uwsim_osgocean/src/osgOcean

-- Configuring incomplete, errors occurred!
See also "/home/danielfortunato/catkin_ws/build_isolated/uwsim_osgocean/install/CMakeFiles/CMakeOutput.log".
See also "/home/danielfortunato/catkin_ws/build_isolated/uwsim_osgocean/install/CMakeFiles/CMakeError.log".
<== Failed to process package 'uwsim_osgocean':
Command '['/home/danielfortunato/catkin_ws/install_isolated/env.sh', 'cmake', '/home/danielfortunato/catkin_ws/src/usv_sim_lsa/uwsim_resources/uwsim_osgocean', '-DCMAKE_INSTALL_PREFIX=/home/danielfortunato/catkin_ws/install_isolated', '-G', 'Unix Makefiles']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/danielfortunato/catkin_ws/build_isolated/uwsim_osgocean && /home/danielfortunato/catkin_ws/install_isolated/env.sh cmake /home/danielfortunato/catkin_ws/src/usv_sim_lsa/uwsim_resources/uwsim_osgocean -DCMAKE_INSTALL_PREFIX=/home/danielfortunato/catkin_ws/install_isolated -G 'Unix Makefiles'

Command failed, exiting.

Does anyone can tell me what is the issue here?

Thanks is advance.

Lift and drag coefficient units/scale?

Hi,

I wanted to input my own sail, rudder and keel models into your simulator model, but am wondering if you use a different scale or different units for the libfoil plugin. On your example boat, the cla for the keel is 10 and cda is 8. To the best of my knowledge even very high lift airfoils only have a coefficient of lift around 3. Would it be possible to elaborate on how you define these values?

Thank you,

Getting some error while running uwsim for 1st time.

I have installed uwsim using UWSim Source-based installation . Now I am trying to run uwsim first time using command rosrun uwsim uwsim. So, asked me to download some data, after I clicked yes, no new window appears. Instead, it shows following error.

it shows massage shows in command window after runnin rosrun uwsim uwsim

Starting UWSim...
Loading SimulatedDevices plugin: 'DredgeTool_Factory'
Loading SimulatedDevices plugin: 'ForceSensor_Factory'
Loading SimulatedDevices plugin: 'SimDev_Echo_Factory'
. Setting localized world: 4.1e-05s
Loading URDF robot...
· robot/GIRONA500/g500_March11.osg: Error retrieving file robot/GIRONA500/g500_March11.osg Check URDF file or set your data path with the --dataPath option.
terminate called after throwing an instance of 'pluginlib::LibraryUnloadException'
what(): According to the loaded plugin descriptions the class ForceSensor_Factory with base class type uwsim::SimulatedDeviceFactory does not exist. Declared types are DredgeTool_Factory ForceSensor_Factory SimDev_Echo_Factory
./uwsim: line 23: 4915 Aborted (core dumped) rosrun uwsim uwsim_binary --dataPath ~/.uwsim/data $@

Please suggest if anyone knows how to solve it!

freefolating_gazebo problem

I am a student in Portugal and I am developing an autopilot for a tele-commanded sailboat and I found your simulator.

When I installed the simulator, it is not possible to use freefloating_gazebo, the folder is empty and I can not manually put files.

When I access the folder in github, a "NOT FOUND" window appears.

Thanks any help

best regards

roslaunch then errors occur

Following your steps, I finished "Compile the stack". However, when I tried to run a scenario:
`roslaunch usv_sim airboat_scenario1.launch parse:=true`
The Terminal reports:
================================================================================REQUIRED process [scene_to_spawner-2] has died!
process has finished cleanly
log file: /home/dai/.ros/log/76c6172c-1d54-11e9-80aa-000c29a4b4cb/scene_to_spawner-2.log
Initiating shutdown!*

Could you please give me some possible suggestions?

Then I have tested another command line:
`roslaunch usv_sim airboat_scenario1.launch parse:=false`
More warnings and errors appear:

Warning [parser.cc:778] XML Element[wind], child of element[link] not defined in SDF. Ignoring[wind]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
[INFO] [1548058700.519351, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1548058700.526243, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1548058700.527118, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1548058700.556245, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1548058700.686703, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1548058700.688895, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ERROR] [1548058700.699066, 0.000000]: Simulation number 1
[ INFO] [1548058700.701692280]: ############### Loading freefloating_fluid plugin
[INFO] [1548058700.707942, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1548058700.709012, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1548058700.738366, 0.000000]: Calling service /gazebo/spawn_urdf_model

[Wrn] [ColladaLoader.cc:1761] Triangle input semantic: 'COLOR' is currently not supported

[INFO] [1548058702.034670, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[Err] [Scene.cc:2927] Light [sun] not found. Use topic ~/factory/light to spawn a new light.
[Wrn] [ColladaLoader.cc:1761] Triangle input semantic: 'COLOR' is currently not supported
[INFO] [1548058702.273541, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[buoy4_spawner-9] process has finished cleanly
log file: /home/dai/.ros/log/1921bd6e-1d55-11e9-80aa-000c29a4b4cb/buoy4_spawner-9*.log
[buoy6_spawner-11] process has finished cleanly
log file: /home/dai/.ros/log/1921bd6e-1d55-11e9-80aa-000c29a4b4cb/buoy6_spawner-11*.log
[INFO] [1548058702.507614, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1548058702.734306, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
Segmentation fault (core dumped)
[gazebo_gui-3] process has died [pid 35467, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient --verbose __name:=gazebo_gui __log:=/home/dai/.ros/log/1921bd6e-1d55-11e9-80aa-000c29a4b4cb/gazebo_gui-3.log].
log file: /home/dai/.ros/log/1921bd6e-1d55-11e9-80aa-000c29a4b4cb/gazebo_gui-3*.log

[Wrn] [msgs.cc:1655] Conversion of sensor type[gpu_ray] not suppported.
[Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/underwater/pose/local/info, deleting message. This warning is printed only once.

The windows of gazebo came out first and shut down auto.

At the real first time, I have once wait to see a 3D simulated scenario with some buoys in two rows.

By the way, the following command line was also not work for me.
./install_usv_sim

Error on Startup

I installed the software per the instructions, when I try and run after compiling I get the following error.

Command: roslaunch usv_sim airboat_scenario1.launch parse:=true

ERROR: cannot launch node of type [freefloating_gazebo/uwsim_scene_to_gazebo_spawner.py]: freefloating_gazebo
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/jake/Desktop/sim/src
ROS path [2]=/opt/ros/kinetic/share

Any thoughts as to what is going wrong?

USV dynamics on Diffboat

Hello,
I want to apply Lift and Drag forces on the diffboat using USV_dynamics plugin,
and I want to visualize all forces acting on the Diff-boat
(Lift and drag forces, thrusters' forces, wind force, wave force etc.)
can you help me to do that ?

./install_usv_sim can not running

Dear :
Sorry to disturb you, because I can not to run ./install_usv_sim.He reminded me that I don’t have permission. If I add sudo, there is no such command。
thanks for your help

usv_sim_lsa for ROS Melodic

Hi,
is it possible to use this repository on ROS melodic distro? If yes, how?
Thanks

port code to ros-melodic

I have tried to port your code for ros-melodic and gazebo-9. I got no error while building the pkg after porting it . Looks like I have done something wrong. I got an error while running the command -

roslaunch usv_sim airboat_scenario1.launch parse:=true

================================================================================REQUIRED process [scene_to_spawner-2] has died!
process has died [pid 16436, exit code 1, cmd /home/varun/ros/wave_ws/install_isolated/share/freefloating_gazebo/scripts/uwsim_scene_to_gazebo_spawner.py /home/varun/ros/wave_ws/install_isolated/share/usv_sim/launch/scenarios_launchs/airboat_scenario1.launch __name:=scene_to_spawner __log:=/home/varun/.ros/log/0db8ce2a-d5c5-11ea-9900-1c1bb5ea32e7/scene_to_spawner-2.log].
log file: /home/varun/.ros/log/0db8ce2a-d5c5-11ea-9900-1c1bb5ea32e7/scene_to_spawner-2*.log
Initiating shutdown!

[scene_to_spawner-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit

Please help!

Simulation not navigating

I have successfully run the simulation using the command sequence:

source install_isolated/setup.bash
roslaunch usv_sim airboat_scenario1.launch parse:=true
roslaunch usv_sim airboat_scenario1.launch parse:=false

From this point, I had to open another terminal and run the command:

rosservice call /gazebo/unpause_physics "{}"

At this point, waves begin moving and the boat reacts to the waves/current, but the boat does not navigate between the buoys. From the documentation, it seemed to me that the navigation was built into this launch file. Am I mistaken?

Is there another command I need to run to make the boat navigate?

Any help would be appreciated!!

Changing the sailboat model to a model with a wingsail

Dear creators,

I am currently working on my master thesis and my task is to reuse a simulation in order to change the existing model to a rigid wingsail boat. I have seen that the sailboat model in the USVSim is partly made using .urdf files and is also using the tool COLLADA in combination with the VCGLib. I noticed that the parts use three kind of files: .dae, .mtl and .obj. Is it possible to explain me how these files can be manipulated in order to achieve a realistic model of my wanted sail or is there maybe already an existing wingsail model? Thank you very much in advance.

Kind regards,
Jeroen Smets

one launch for each model (with uwsim)
one launch to load all models at the same scenario (robots_start_world.launch). differential model with navigation stack and the others with PID heading control + patrol. launch UWsim and Rviz.
all models under effect of waves (UWsim)
define standard names for topics and nodes
with catkin_make_isolated --install every change on xml files needs compiling. switch to catkin_make??
improve hull shape visual and add some texture
change control with parameter on roslaunch (control:=pid or control:=navigation_stack)
add develop and release branchs

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disaster-robotics-proalertas / usv_sim_lsa Goto Github PK

usv_sim_lsa's Introduction

Simulated enviroment for Unmanned Surface Vehicles (usv_sim_lsa) -- 0.2

Prerequisites

Installing

Creating a catkin workspace

Downloading and installing usv_sim stack

Running the tests

System Architecture

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DISTURBANCE TYPES

WATER CURRENT

VIDEO - CLICK ON IMAGE TO PLAY IT

WAVES

WIND CURRENTS

VIDEO - CLICK ON IMAGE TO PLAY IT

HOW DISTURBANCES CAN AFFECT VEHICLES

CONFIGURATION

VIDEOS

Differential boats sailing upstream - Global vs Local disturbances

Scenario 1

Scenario 2

GROUND TRUTH GENERATION

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Reference for citing USV_SIM

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usv_sim_lsa's Issues

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Then I have tested another command line: roslaunch usv_sim airboat_scenario1.launch parse:=false More warnings and errors appear:

[Wrn] [msgs.cc:1655] Conversion of sensor type[gpu_ray] not suppported. [Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/underwater/pose/local/info, deleting message. This warning is printed only once.

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Then I have tested another command line:
`roslaunch usv_sim airboat_scenario1.launch parse:=false`
More warnings and errors appear:

[Wrn] [msgs.cc:1655] Conversion of sensor type[gpu_ray] not suppported.
[Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/underwater/pose/local/info, deleting message. This warning is printed only once.