AllSeaingVehicle: Coastal and Aquaculture Marine Autonomy

Getting Started

Prerequisites

Running vehicle nodes

• ROS Noetic
• ZED SDK (Not necessary on arcturus_docker for most of you)
  Runing simulation:
• Gazebo: Install gazebo 9 at https://classic.gazebosim.org/download.

To download the ZED SDK(DON'T INSTALL ON DOCKER UNLESS YOU'RE USING AN ACTUAL CAMERA), find and download the correct installer from https://www.stereolabs.com/developers/release/ or use curl

curl -L https://download.stereolabs.com/zedsdk/3.8/l4t32.6/jetsons -o installer.run # Replace link with https://download.stereolabs.com/zedsdk/3.8/cu117/ubuntu20 if using docker
chmod +x installer.run 

Run installer

sudo apt install zstd # Run this if on a linux/jetson OS
./installer.run

Clone the repository:

git clone https://github.com/ArcturusNavigation/AllSeaingVehicle.git

If you're on a jetson device, you'll also need to create an alias to the path for opencv

sudo ln -s /usr/include/opencv4/opencv2 /usr/include/opencv 

Building repository

First, we need to install all the rospackage dependencies. Navigate to the top-level of the repository then run

rosdep install --from-paths src --ignore-src -r -y 

Next, we'll build the main packages of the repository and source the build

catkin_make -DCATKIN_WHITELIST_PACKAGES="pilot_suite;mapping_suite;perception_suite"
source devel/setup.bash

Testing

Tutorials

Running the gazebo simulation

1. Start up the gazebo simulation

roslaunch sim_suite boat.launch

In the simulation, delete the boat_with_sensors model then insert another one(fixes weird glitch). Then you can hit play to start the simulation.

2. Run the SITL simulation from arduRover

sim_vehicle.py -v APMrover2 --console

3. Run mavros with

roslaunch arcturus_pilot mavros