OceanWATERS (unofficial)

Overview | Code Organization | Getting Started | License

Overview

OceanWATERS is a physical and visual simulation of a lander on Europa. It is intended as a testbed to aid in producing software that could fly on lander missions to ocean worlds, such as Europa and Enceladus.

OceanWATERS	master	melodic-devel
build
docker

Code Organization

This repository just adds build scripts and other miscellaneous files. OceanWATERS are associated with this repo as git submodules:

• irg_open
• ow_simulator
• ow_autonomy
• ow_europa

Getting Started

• Running the fully baked OceanWATERS docker images
• Running the base OceanWATERS docker image for development
• Instantiate more than one terminal to the same OceanWATERS container instance

Running the fully baked OceanWATERS docker images

If you are merely interested in running the simulation you can do so by running one of the fully baked OceanWATERS docker images:

• stable channel: oceanwaters/oceanwaters
• development channel: oceanwaters/oceanwaters_nightly

To run using the base gpu accelerated docker (nvidia) use the following command:

docker run -it --gpus all -v /tmp/.X11-unix:/tmp/.X11-unix \
    -e DISPLAY -e XAUTHORITY -e NVIDIA_DRIVER_CAPABILITIES=all \
    oceanwaters/oceanwaters:ros-melodic-desktop-full-nvidia

By default this would automatically launch the simulation, you can override the default behaviour by specifying the command to be run as follows:

docker run --gpus all -v /tmp/.X11-unix:/tmp/.X11-unix \
    -e DISPLAY -e XAUTHORITY -e NVIDIA_DRIVER_CAPABILITIES=all \
    oceanwaters/oceanwaters:ros-melodic-desktop-full-nvidia /bin/bash

then once you connect to the docker container you may launch the simulation using:

roslaunch ow atacama_y1a.launch # or you may use europa_terminator_workspace.launch

Running the base OceanWATERS docker image for development

If you are interested in doing development on the docker image you can use the builder images:

• stable channel: oceanwaters/builder
• development channel: oceanwaters/builder_nightly

The development image doesn't contain the code baked into it, but it has all the required dependencies to build and run the project regardless of the user current - linux-based - host system.
So assuming that the oceanwaters workspace is located at ~/oceanwaters_ws then you can mount the folder into the docker container as follows:

docker run -it --rm \
    -v ~/oceanwaters_ws:/oceanwaters_ws \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    --gpus all -e DISPLAY -e XAUTHORITY -e NVIDIA_DRIVER_CAPABILITIES=all \
    oceanwaters/builder_nightly:ros-melodic-desktop-full-nvidia

Once conntected to the container, you can then build the project as follows:

cd /oceanwaters_ws  # navigate to the oceanwaters workspace
catkin build        # build the project

Instantiate more than one terminal to the same OceanWATERS container instance

Sometimes you may need to submit commands to connect another terminal to a given OceanWATERS container.

docker ps # lists currently running containers in your system
# note down the name or id of the running OceanWATERS container that you want to access from a different terminal
docker exec -it <ow-container-name> /bin/bash # you can supply the container id instead
cd /oceanwaters_ws  # navigate to the oceanwaters workspace
source /ow_env/setup.bash   # source ROS enviroment
source devel/setup.bash     # source your workspace again
# Now you can execute a ROS command to a running instance of the simulation
# for example try: rostopic list

License

OceanWATERS is open source software licensed under the NASA Open Source Agreement version 1.3.

Notices

Copyright © 2020 United States Government as represented by the Administrator of the National Aeronautics and Space Administration. All Rights Reserved.

Disclaimers

No Warranty: THE SUBJECT SOFTWARE IS PROVIDED "AS IS" WITHOUT ANY WARRANTY OF ANY KIND, EITHER EXPRESSED, IMPLIED, OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, ANY WARRANTY THAT THE SUBJECT SOFTWARE WILL CONFORM TO SPECIFICATIONS, ANY IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR FREEDOM FROM INFRINGEMENT, ANY WARRANTY THAT THE SUBJECT SOFTWARE WILL BE ERROR FREE, OR ANY WARRANTY THAT DOCUMENTATION, IF PROVIDED, WILL CONFORM TO THE SUBJECT SOFTWARE. THIS AGREEMENT DOES NOT, IN ANY MANNER, CONSTITUTE AN ENDORSEMENT BY GOVERNMENT AGENCY OR ANY PRIOR RECIPIENT OF ANY RESULTS, RESULTING DESIGNS, HARDWARE, SOFTWARE PRODUCTS OR ANY OTHER APPLICATIONS RESULTING FROM USE OF THE SUBJECT SOFTWARE. FURTHER, GOVERNMENT AGENCY DISCLAIMS ALL WARRANTIES AND LIABILITIES REGARDING THIRD-PARTY SOFTWARE, IF PRESENT IN THE ORIGINAL SOFTWARE, AND DISTRIBUTES IT "AS IS."

Waiver and Indemnity: RECIPIENT AGREES TO WAIVE ANY AND ALL CLAIMS AGAINST THE UNITED STATES GOVERNMENT, ITS CONTRACTORS AND SUBCONTRACTORS, AS WELL AS ANY PRIOR RECIPIENT. IF RECIPIENT'S USE OF THE SUBJECT SOFTWARE RESULTS IN ANY LIABILITIES, DEMANDS, DAMAGES, EXPENSES OR LOSSES ARISING FROM SUCH USE, INCLUDING ANY DAMAGES FROM PRODUCTS BASED ON, OR RESULTING FROM, RECIPIENT'S USE OF THE SUBJECT SOFTWARE, RECIPIENT SHALL INDEMNIFY AND HOLD HARMLESS THE UNITED STATES GOVERNMENT, ITS CONTRACTORS AND SUBCONTRACTORS, AS WELL AS ANY PRIOR RECIPIENT, TO THE EXTENT PERMITTED BY LAW. RECIPIENT'S SOLE REMEDY FOR ANY SUCH MATTER SHALL BE THE IMMEDIATE, UNILATERAL TERMINATION OF THIS AGREEMENT.