The main step is to launch sonia-deploy. In theory, we should only launch sonia-deploy, but some elements aren't included yet. In the directory sonia-deploy, use the following line in the console :
./launch_local_auv8.sh or ./launch_local_auv7.sh
Don't forget to source your terminal.
In your workspace directory, use :
source devel/setup.bash
Open build-simulation/Linux_fisheye and execute auv_simulation.x86_64.
Open the telemetry with the rqt command in the console.
First, verify you have communication between the simulation and the telemetry by checking the cameras. You should see at least :
/proc_simulation/bottom/proc_simulation/bottom/compressed/proc_simulation/front/proc_simulation/front/compressedIn the telemetry, you will have to find the Waypoint module (check the Plugins option, SONIA's folder, Control if you don't have it already open).
In the Unity tab of the Waypoin module, select your sub (scene and run are not available at this point) and press Update.
Then, in the Simulation menu of the Waypoint module press Start Simulation. At this point, you should see the submarine move in the Navigation Map, Depth Indicator and the cameras.
Once this is done, select the MPC Planner mode (10) in the Toolbar Module. Refer to the Control page for all the modes.
When the proc_control is running, you can launch flexbe using the following line:
roslaunch flexbe_app flexbe_full.launch