ROS Index
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
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No version for distro humble. Known supported distros are highlighted in the buttons above.
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
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No version for distro jazzy. Known supported distros are highlighted in the buttons above.
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
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No version for distro rolling. Known supported distros are highlighted in the buttons above.
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv auv_setup dp_adapt_backs_controller pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering pose_action_server los_guidance reference_filter_dp docking joystick_interface_auv thrust_allocator_auv thruster_interface_auv |
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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) |
Packages
| Name | Version |
|---|---|
| auv_setup | 0.0.0 |
| dp_adapt_backs_controller | 1.0.0 |
| pid_controller_dp | 0.0.0 |
| pid_controller_dp_euler | 0.0.0 |
| velocity_controller_lqr | 1.0.0 |
| ekf_pose_filtering | 0.0.0 |
| pose_action_server | 1.0.0 |
| los_guidance | 0.0.0 |
| reference_filter_dp | 0.0.0 |
| docking | 0.0.0 |
| joystick_interface_auv | 0.0.0 |
| thrust_allocator_auv | 0.0.0 |
| thruster_interface_auv | 1.0.0 |
README
Vortex AUV
This repo contains software for operating UUVs, developed by students at NTNU. The software is based on the ROS2 Humble framework, and aims to be hardware independent. Although the main focus of Vortex is autonomous operation, this software stack supports both AUV and ROV operations.
Docker
We provide a Docker-based setup to simplify development and deployment. For full details (prerequisites, how to build and run, etc.), see the Docker documentation.
Additional Repositories
This project requires additional repositories, which are listed in the dependencies.repos file, add these to your workspace.
Documentation
- TODO: Drivers and hardware specifics for each drone will be added to the wiki. Link them here.
- TODO: How to adapt the software stack to new hardware.
- A collection of master theses written by Vortex members:
- Manta v1: A Deliberative Agent Software Architecture for Autonomous Underwater Vehicles
- A real-time DVL and pressure sensor AINS comparison study between EKF, ESKF and NLO for Manta-2020
- Sonar EKF-SLAM and mapping inanstructured underwater environment
- Autonomous Navigation, Mapping, and Exploration for Underwater Robots
CONTRIBUTING
No CONTRIBUTING.md found.
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
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No version for distro noetic. Known supported distros are highlighted in the buttons above.
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
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No version for distro ardent. Known supported distros are highlighted in the buttons above.
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
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No version for distro bouncy. Known supported distros are highlighted in the buttons above.
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
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No version for distro crystal. Known supported distros are highlighted in the buttons above.
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
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No version for distro eloquent. Known supported distros are highlighted in the buttons above.
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
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No version for distro dashing. Known supported distros are highlighted in the buttons above.
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
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No version for distro galactic. Known supported distros are highlighted in the buttons above.
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
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No version for distro foxy. Known supported distros are highlighted in the buttons above.
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
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No version for distro iron. Known supported distros are highlighted in the buttons above.
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
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No version for distro lunar. Known supported distros are highlighted in the buttons above.
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
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No version for distro jade. Known supported distros are highlighted in the buttons above.
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
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No version for distro indigo. Known supported distros are highlighted in the buttons above.
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
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No version for distro hydro. Known supported distros are highlighted in the buttons above.
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
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No version for distro kinetic. Known supported distros are highlighted in the buttons above.
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vortex-auv repositoryrobot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv |
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No version for distro melodic. Known supported distros are highlighted in the buttons above.