ROS Index
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Software for guidance, navigation and control for the Vortex AUVs. Purpose built for competing in AUV/ROV competitions. |
| Checkout URI | https://github.com/vortexntnu/vortex-auv.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-04 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | robot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- alekskl01
Authors
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 topside.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:
- Find the IP of the master. When running the Xavier on the drone, this should be
10.42.0.1. - 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.
- 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 |