System Requirements

System Requirements for Running dave

Hardware

• A modern multi-core CPU, e.g. Intel Core i5
• 8 Gb of RAM
• A discrete Graphics Card, e.g. Nvidia GTX 650
  • The environment can be run without a GPU, but the Gazebo simulation will run much faster (should run in real-time) with access to a GPU. Without a GPU the simulation is likely to run slower than real-time.

Software

• Ubuntu Desktop 18.04 Bionic (64-bit)
• Gazebo 9.11.0+ (<9.11.0 is not sufficient)
• ROS Melodic

Nvidia Driver

Our tutorials assume you have an Nvidia graphics card configured to use the proprietary driver.

• There are many online guides for configuring the Nvidia driver correctly on Ubuntu.
• Here's one example with graphical and command-line options.

Docker

Running Docker is optional. If you choose to use the container-based installation instructions, the following are required:

• Docker v19.03 or higher (installation instructions)
• nvidia-container-toolkit (installation instructions)

Peripherals

We also recommend a gamepad for testing the UUV and its arm and sensor devices. In the examples we use a Logitech F310 (Walmart).