This is the entrypoint for the wave energy harvesting buoy project.

See documentation here.

And MBARI-WEC in action using Gazebo simulator here:

Simulation Repositories

These are the repositories for the project:

• mbari_wec_utils: ROS 2 messages, interface API, and examples for receiving and sending data to a physical or simulated buoy.
  • buoy_interfaces: ROS 2 messages to recieve and send data to a physical or simulated buoy
  • buoy_api_cpp: C++ Interface to MBARI Power Buoy including Controller examples to run against a physical or simulated buoy.
  • buoy_api_py: Python Interface to MBARI Power Buoy including Controller examples to run against a physical or simulated buoy.
• mbari_wec_gz
  • buoy_description: Buoy model description.
  • buoy_gazebo: Gazebo plugins, worlds and launch files to simulate the buoy.

Interfaces and Examples

There are two GitHub template repositories set up (cpp/python) for a quick start on writing a custom controller utilizing buoy_api_cpp and buoy_api_py. Please see cpp examples and python examples for example controller implementations.

• mbari_wec_template_cpp
• mbari_wec_template_py

Install

At the moment, MBARI WEC is supported by source and Docker installation only.

Source Install On Host System

Tutorial: Install from source

Using Docker

Tutorial: Install using Docker

Run the Simulator

Tutorial: Running the Simulator

For maintainers only: To upload to DockerHub

Make sure you have permissions to push to the MBARI organization on DockerHub. This permission is given by the MBARI administrator.

Build the mbari_wec Docker image, as detailed above.

Find the image ID for mbari_wec:

docker images

Tag the image with the destination name:

docker tag <IMAGE ID> mbari/mbari_wec:latest

Push to the mbari/mbari_wec public image.

docker push mbari/mbari_wec:latest

You may have to log in for it to recognize your permissions:

docker login

Publications

Dizon, Chris, Ryan Coe, Andrew Hamilton, Dominic Forbush, Michael Anderson, Ted Brekken, and Giorgio
Bacelli. 2024. "Analysis on Evaluations of Monterey Bay Aquarium Research Institute’s Wave Energy
Converter’s Field Data Using WEC-Sim and Gazebo: A Simulation Tool Comparison" Applied Sciences 14,
no. 23: 11169. https://doi.org/10.3390/app142311169