1.roscore
2.rosrun uwsim uwsim --configfile dredging.xml
3.显示相机图像
rosrun image_view image_view image:=/stereo_down_right/image_raw(通过rostopic list命令查看话题)
4.控制uuv
rosrun uwsim setVehicleVelocity /dataNavigator x y z r p w
5.控制机械臂运动
rosrun uwsim setJointVelocity /uwsim/joint_state_command 1 0 0 0 0 0 0 0