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AUV setup

This package contains global configs and the main launchfiles. The reason for putting these in a separate package is to be able to reach the aforementioned files from anywhere in a simple manner.

Config

The config folder contains physical parameters related to the AUV and the environment

  • environments: Atmosphere, water density, gravity etc..
  • robots: Any and all physical constants directly related to the AUV body
  • thrusters: Thruster configs for different thruster types

Launch

This package contains a launchfile for each specific AUV. Additionally the pc.launch file is to be used on the topside computer that the joystick is connected to, for ROV operations.

For the AUV launchfiles, the following parameters can be used:

Parameter Options Default
type real, simulator simulator

ROV mode topside launch

We make no distinction for launching in AUV or ROV mode for the system running on the physical drone. You will however need to run the pc.launch file on the topside computer in order to operate the drone with a joystick. The topside computer needs to be connected to the same network as the drone. In our configuration, the drone is the master node, while the topside computer is the slave. For the slave to know how to connect to the master node, you will need to configure the topside computer:

  1. Find the IP of the master. When running the Xavier on the drone, this should be 10.42.0.1.
  2. On the topside computer, execute
echo "export ROS_MASTER_URI=http://X.X.X.X:11311" >> ~/.bashrc

where X.X.X.X is the IP of the Xavier.

  1. Source the newly edited file.
source ~/.bashrc

Sensors

Currently, the AUV launchfiles also contain the sensor driver launches, including the remapping of them:

Manta sensor mapping

Sensor x y z u v w
IMU 0 0 0 3.12159 0 0
DVL -0.035 -0.017 -0.211 3.14159 3.14159 0
Pressure 0 0 0 0 0 0

Gladlaks sensor mapping

Sensor x y z u v w
IMU 0 0 0 TODO TODO TODO
DVL TODO TODO TODO TODO TODO 0
Pressure 0 0 0 0 0 0