Help with running examples

[xgamingman]

So, my current master thesis requires that I learn all about hydrodynamics in robotic manipulators, design a controller then perform simulation. I came across this incredible work, but I don't understand how to run the provided examples.

I installed stonefish on a Linux system and compiled the examples using (cmake and make commands). but after that i don't know how to run them. I just need a little push, then I will learn everything else on my own.

I tried webots and coppleasim as well as UUV with gazebo but stonefish seems like next level, so I want to work on my manipulator on it.

[xgamingman]

Below I am including how I managed to run the simulator using ros2 and the cpp provided examples to help someone struggling in the future.

/// ubuntu 22.04.01 - VMWARE 17 \\

0.1: install ros2 humble (or another version)
0.2: install stonefish (cmake, make, make install)
0.2a: if you want to run cpp stonefish then check issue #35 and add the 3 lines (comment from owner)
0.3: make ros2_ws (mkdir) and src (mkdir) ros2_ws
0.4: clone stonefishros2 inside src
0.4a: python3 -m pip install numpy
0.4b: pip install empy==3.3.2
0.4c: pip install lark
0.4d: check for other errors and use internet to look for missing dependencies
0.5: go to directory ros2_ws and run $ colcon build
0.6: (guide used for understnading ws) https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html
0.7: for starting just use the following (after sourcing) ros2 launch xml file:

<launch>
  <!-- args that can be set from the command line or a default will be used -->
  <arg name="background_r" default="0"/>

  <include file="$(find-pkg-share stonefish_ros2)/launch/stonefish_simulator.launch.py">
    <arg name="simulation_data" value="/home/machware/ros2_ws/src/Manip/"/>
    <arg name="scenario_desc" value="/home/machware/ros2_ws/src/Manip/Scenarios/MainWorld.scn.scn"/>
    <arg name="simulation_rate" value="30.0"/>
    <arg name="window_res_x" value="1000"/>
    <arg name="window_res_y" value="800"/>
    <arg name="rendering_quality" value="high"/>
  </include>
</launch>

// sourcing \

source /opt/ros/humble/setup.bash
cd ~/ros2_ws
source install/local_setup.bash
ros2 launch ~/ros2_ws/src/Manip/ManipOperate.launch.xml