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vanttec_usv repositoryvanttec_can_comms usv_comms usv_control usv_description usv_interfaces usv_lidar usv_localization usv_missions usv_utils |
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Repository Summary
Checkout URI | https://github.com/vanttec/vanttec_usv.git |
VCS Type | git |
VCS Version | develop |
Last Updated | 2025-03-08 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
vanttec_can_comms | 0.0.0 |
usv_comms | 0.0.0 |
usv_control | 0.0.0 |
usv_description | 0.0.0 |
usv_interfaces | 0.0.0 |
usv_lidar | 0.0.0 |
usv_localization | 0.0.0 |
usv_missions | 0.0.0 |
usv_utils | 0.0.0 |
README
VantTec USV Main Repository
This is the main working repository for the USV (Unmanned Surface Vehicle) VantTec Platform. Official documentation here.
Packages
- usv_comms: ROS package that allows the USV software to interface with the Digi XBee Hardware for communication with the ground control station.
- usv_control: ROS package for the implementation of the control algorithms for the USV.
- usv_missions: ROS package where the algorithms to solve the different RoboBoat 2024 challenges are implemented.
-
usv_perception: ROS package for the perception algorithms used in the USV.
Submodules
- sbg_driver: ROS package that allows the USV to interface with SBG’s IMU.
- usv_libs: Control library.
- velodyne: ROS package for the Velodyne LIDAR.
- zed_ros_wrapper: ROS package for the Stereolabs ZED Camera.
Needed Dependencies
- Nvidia CUDA
- ZED SDK
- Gazebo Sim - Garden
- TensorRT
- The following dependencies:
# To install dependencies automatically:
rosdep install --from-paths src -y --ignore-src
sudo apt-get install libpcap-dev libgeographic-dev ros-humble-perception-pcl ros-humble-pcl-msgs ros-humble-vision-opencv ros-humble-xacro ros-humble-tf-transformations libgz-sim7-dev libignition-transport12-dev libignition-msgs9-dev python3-sdformat13 ros-humble-diagnostic-updater ros-humble-geographic-msgs ros-humble-nmea-msgs ros-humble-robot-localization
sudo add-apt-repository ppa:borglab/gtsam-release-4.1
sudo apt install libgtsam-dev libgtsam-unstable-dev
How to start working?
Enter the following commands into your Ubuntu 22 terminal:
# Clone repository and its submodules
cd
git clone http://github.com/vanttec/vanttec_usv.git
cd vanttec_usv
git submodule update --init --recursive
# Build the usv_interfaces package
colcon build --packages-select usv_interfaces
# Set environment variables with install/setup.bash file
source install/setup.bash
HOW TOs (Pending: Modify for updated launch files):
Run mission #2:
ros2 launch usv_control usv_control_sim_launch.py
ros2 launch usv_missions obstacle_launch.py
ros2 run usv_utils obstacle_viewer_node
ros2 run usv_control obstacle_avoidance_node
ros2 run usv_missions mission_handler_node
#
Move the boat around:
ros2 launch usv_control usv_control_sim_launch.py
ros2 launch usv_control teleop_launch.py
CONTRIBUTING
No CONTRIBUTING.md found.
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