The goal of this project is to develop preseason software technologies based on ROS. This project will explorer development paths and verify new technologies before more permanent hardware development. Key areas of testing are cameras, vector drive, controllers, and PID algortihms. Additionally new workflows/integration tactics are to be tested and documented (Travis CI, Docker, node documentation, doxygen). This project will expire at the beginning of the 2018-2019 robotics season.
All latest releases will be posted on the release page. There is also a feature addition form on this page so you can submit a feature that you want to be in the next release. Please only add the feature if it is complete and in development.
These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on the main ROV system (Master).
FOLLOW:
Always run IDE's from terminal if on Ubuntu (just type the name of the IDE in terminal and click enter ex. clion)
Follow Test Bench Setup Steps if Running on Test Bench
Locally:
What things you should to install to develop and run software and how to install them
Code Blocks IDE on rpi ubuntu mate
sudo apt-get install codeblocks
On the RPI turn on the CSI, SPI, I2C, and UART interfaces using sudo raspi-config
Setup the I2C interface on Ubutnu Mate
sudo apt-get install python-smbus
cd /boot/config.txt
- uncomment
dtparam=i2c_arm=off
and change todtparam=i2c_arm=on
- uncomment
dtparam=i2c_arm_baudrate=100000
and change todtparam=i2c_arm_baudrate=400000
- restart pi
Setup the ros_lib file for arduino serial
- See sketchbook README.md documentation
RPI Camera node setup
- See raspicam_node README.md documentation
Turn RPI Safemode OFF
- Type cd /boot on the bottomside RPI
- Type sudo nano config.txt
- Type CTRL + W and then search for avoid_safe and hit enter
- Go to the bottom of the section and uncomment avoid_safemode=1
- Type CTRL + X and then Y to exit
What things you need to do so that the ROS network operates properly
On ubuntu 16.04 go to Network Connections app and add a new ethernet connection (name the connection ROVEthernetConnection
)
- On the topside computer have a static (manual) IP of
192.168.1.100
, netmask24
, Gateway92.168.1.1
, DNS server27.0.1.1, 8.8.8.8, 192.168.1.1
- On the bottomside computer have a static (manual) IP of
192.168.1.111
, netmask24
, Gateway192.168.1.1
, DNS server127.0.1.1, 8.8.8.8, 192.168.1.1
- Run the setupROSNetwork.sh script in the scripts folder
Once the network connection has been verified (on bottomside ping master
/ on topside ping bottomside
)
- Run
sshSetup.sh
in the scripts folder - Do not add any paraphrases
- on bottomside
ssh master
/ on topsidessh bottomside
- Make sure both work without entering a password
-
IF you recieve
/usr/bin/ssh-copy-id: ERROR: ssh: connect to host bottomside port 22: Connection refused
go to the opposite machine from the one you recieved it on and run the following:sudo rm /etc/ssh/sshd_config
sudo apt-get purge openssh-server
sudo apt-get install openssh-server
./sshSetup.sh
-
If topside and bottomside aren't communicating do the following:
- ping 192.168.1.100 from bottomside, and 192.168.1.111 from topside (If they don't communicate, make sure all the hardware is setup correctly. Also check your virtual machine network settings, and make sure it is briding to the network (directly connected to physical network and replicating physical connection state)
Other usefull links for common problems:
- https://superuser.com/questions/421004/how-to-fix-warning-about-ecdsa-host-key
- https://askubuntu.com/questions/762541/ubuntu-16-04-ssh-sign-and-send-pubkey-signing-failed-agent-refused-operation
- https://answers.ros.org/question/41446/a-is-not-in-your-ssh-known_hosts-file/
A step by step series of examples that tell you how to get a development env running
On your Raspberry Pi 3B make sure you are running ubuntu mate 16.04 (image here https://drive.google.com/open?id=1497jupJ2dBQqy_o_x5JBPTjY3lto7-rI)
- cat /etc/os-release
- run
sudo usermod -a -G dialout $USER
to give proper permissions to USB interface programs (similar tosudo chmod a+rw /dev/tty...
)
- See https://uuvsimulator.github.io/installation.html#creating-and-configuring-a-workspace
- Check to see if gazebo version 7 is installed
gazebo --version
- Run
sudo apt-get update
andsudo apt-get upgrade
- In the ros_workspace run
git submodule init
andgit submodule update
- In ros_workspace run
rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
- Run
sudo apt-get install protobuf-compiler protobuf-c-compiler
- Connect a powerfull computer to the ROS Master by running
export ROS_MASTER_URI=http:https://ip_to_master:11311
andexport ROS_IP=ip_of_computer
- Make sure the master and simulation computers can ping each other and if network problems persist make sure the computers can ssh into each other
- Run
catkin_make
- If you receive this error
make[2]: *** No rule to make target '/home/michael/catkin_ws/src/uuv_simulator/uuv_gazebo_plugins/uuv_gazebo_plugins/PROTOBUF_PROTOC_EXECUTABLE-NOTFOUND', needed by 'uuv_simulator/uuv_gazebo_plugins uuv_gazebo_plugins/Double.pb.cc'. Stop. CMakeFiles/Makefile2:4699: recipe for target 'uuv_simulator/uuv_gazebo_plugins/uuv_gazebo_plugins/CMakeFiles/uuv_gazebo_plugins_msgs.dir/all' failed
then remove the /build /devel and /install folders withrm -R
and retry steps 1 - 8
- If you receive this error
catkin_make install
<- May not be needed (check on next install)source devel/setup.bash
roslaunch rov_description full_systems_launch.launch
orroslaunch rov_description partial_systems_launch.launch
androslaunch simulate_rov.launch
on another machinerosrun rov_description simulation_interface.py
- When building bottomside with catkin_make, type the command catkin_make -DCATKIN_WHITELIST_PACKAGES="vector_drive;hardware_interface;raspicam_node;drq1250;ms5837;sensor_readout"
- Follow the driver installation instructions: https://github.com/intel-ros/realsense
- Test using
roslaunch realsense2_camera rs_camera.launch
Note: The resolution of the realsense camera should always run at 1280x720 for the D415 and 848x480 for the D435
- Follow the driver installation instructions: https://github.com/IntelRealSense/librealsense/blob/master/doc/RaspberryPi3.md
- cd ros_workspace
git submodule init
git submodule update
catkin_make
- Test using
roslaunch realsense2_camera rs_camera.launch
- Run on the rov by launching the
rov_control
file
- Robotics Operating System - The web framework used
- Travis CI - Continious integration
- Michael Equi - Initial work
- Andrew Grindstaff - Finishing work
See also the list of contributors who participated in this project.
- README Tempalte source https://gist.github.com/PurpleBooth/109311bb0361f32d87a2
- Inspiration
- etc
v2.18