This repository should be install in a different catkin_workspace and compiled with the catkin_make_isolated command.
This branch currently provides manual control with gui (gui:=true) or joystick (usv_teleop) and automatic heading control.
usv_teleop provides direct control of sail and rudder joint angles.
On branch usv_navigation of usv_sim_lsa:
roslaunch usv_sim sailboat_scenario0.launch parse:=true
roslaunch usv_sim sailboat_scenario0.launch parse:=false
roslaunch usv_teleop sony_dualshock3.launch