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Orca3 Hardware Drivers

This package provides an interface between the BlueROV2 hardware and the Orca3 software.

Status: ROV operation has been lightly tested with a modified BlueROV2 running Foxy. It has not been tested on Galactic. YMMV.

Hardware

I made the following modifications to my stock 2017 BlueROV2:

  • Replaced the Raspberry Pi camera with the BlueRobotics USB low-light camera
  • Upgraded to the BlueRobotics R3 ESCs
  • Upgraded to the slim tether
  • Replaced the Raspberry Pi and the Pixhawk with an x86 UP Board and a Pololu Maestro 18
  • A simple voltage divider provides a voltage signal from the battery (0-17V)
  • There is no current sensor
  • There is no IMU

Software Installation

Below I've outlined rough instructions to install the required software on the UP board.

TODO(clyde): replace these instructions with a Dockerfile

Install Ubuntu 20.04 LTS Server and the UP kernel

Install Ubuntu 20.04 LTS Server, then the UP kernel, per these instructions: https://github.com/up-board/up-community/wiki/Ubuntu_20.04

Install UP extras and i2c tools:

sudo apt install upboard-extras i2c-tools

Add $USER to several groups to provide access to the hardware:

sudo usermod -a -G gpio ${USER}
sudo usermod -a -G leds ${USER}
sudo usermod -a -G i2c ${USER}
sudo usermod -a -G spi ${USER}
sudo usermod -a -G dialout ${USER}
sudo usermod -a -G video ${USER}

Install MRAA

MRAA provides an abstraction layer for the hardware:

sudo add-apt-repository ppa:mraa/mraa
sudo apt-get update
sudo apt-get install libmraa2 libmraa-dev libmraa-java python3-mraa mraa-tools

Install Chrony

The ROS2 nodes are split across the UP board and a topside computer. I recommend keeping the clocks in sync. I've had good luck with Chrony. Have the UP board use the topside computer as a reference.

Install Gstreamer

This is the minimal Gstreamer install:

sudo apt install gstreamer1.0-tools gstreamer1.0-plugins-good gstreamer1.0-plugins-bad

Install ROS2 Foxy

Install ROS2 Foxy using these instructions. Use the ros-foxy-ros-base option to avoid installing the GUI tools.

Install ROS2 development tools using these instructions. Stop after installing the development tools (before "Get ROS 2 code").

Initialize and update rosdep:

sudo rosdep init
rosdep update

Install and build Orca3

mkdir -p ~/ros2/orca3_ws/src
cd ~/ros2/orca3_ws/src
git clone https://github.com/clydemcqueen/BlueRobotics_MS5837_Library.git -b mraa_ros2
git clone https://github.com/ptrmu/ros2_shared.git
git clone https://github.com/clydemcqueen/orca3.git
# Build orca_bringup, orca_driver and orca_msgs
rm orca3/orca_driver/COLCON_IGNORE
touch orca3/orca_base/COLCON_IGNORE
touch orca3/orca_description/COLCON_IGNORE
touch orca3/orca_gazebo/COLCON_IGNORE
touch orca3/orca_localize/COLCON_IGNORE
touch orca3/orca_nav2/COLCON_IGNORE
touch orca3/orca_shared/COLCON_IGNORE
touch orca3/orca_topside/COLCON_IGNORE
cd ~/ros2/orca3_ws
source /opt/ros/foxy/setup.bash
rosdep install --from-paths . --ignore-src
colcon build
source install/local_setup.bash

Launch on boot

# Launch ROS nodes:
sudo cp ~/ros2/orca3_ws/src/orca3/orca_driver/scripts/orca_driver.service /lib/systemd/system
sudo systemctl enable orca_driver.service

# Launch gstreamer pipeline:
sudo cp ~/ros2/orca3_ws/src/orca3/orca_driver/scripts/orca_fcam.service /lib/systemd/system
sudo systemctl enable orca_fcam.service