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About

All the code that runs in the submarine.

Dev Environment Setup

Ros Setup

Go to ROS' website or use the following commands:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt install ros-melodic-desktop-full

Then get dependencies

rosdep update

Set up your environment variables

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
source /opt/ros/melodic/setup.bash

Install python tools

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

Catkin Workspace

Make a directory for the project

mkdir sigbot
cd sigbot/

Install catkin tools

sudo apt install python-catkin-tools

Internalize the workspace

catkin_init_workspace

Creating a src directory for the repositories

Make a src folder

mkdir src
cd src

Clone all the necessary repositories

  • Make sure to use SSH to make your life easier
git clone git@github.com:IllinoisAUV/robosub_2019.git
git clone git@github.com:IllinoisAUV/uuv_simulator.git
git clone git@github.com:IllinoisAUV/darknet_ros.git
git clone git@github.com:IllinoisAUV/zed-ros-wrapper.git
git clone git@github.com:IllinoisAUV/ardupilot.git

Miscellaneous Dependencies

Gazebo

sudo apt install gazebo9

Nvidia - Make sure to install version 10.0, which can be found here.

Mavros

sudo apt install ros-melodic-mavros
sudo apt install ros-melodic-mavros-extras

ZED SDK

Building

Build using:

  • Use -jx where x is the number of threads you want to run on
  • Do this in the main sigbot directory
catkin build -j4

Run local setup (You should add this to your ~/.bashrc)

source ~/sigbot/devel/setup.bash

Usage

Run simulator with manual controls

rosrun robosub_2019 start_sim.sh

See a list of the current topics

rostopic list

To publish topics, use rostopic pub

rostopic pub /rexrov/cmd_vel geometry_msgs/Twist "linear:
  x: 1.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0"

Run simulation with code as controls

rosrun robosub_2019 state_machine.py --sim

See a graph of everything that is happening

rqt_graph

Development Notes

state_machine.py has a ton of code for both turning and states. Ideally it would just use states. We use controller overrides to control the robot.