bokken12 / manta-auv Goto Github PK

Linux distributions such as Wily (Ubuntu 15.10), Xenial (Ubuntu 16.04) and Jessie (Debian 8)
C++ 11 compiler or newer.

Robot operating system (ROS) provides services designed for heterogeneous computer cluster such as hardware abstraction, low-level device control, implementation of commonly used functionality, message-passing between processes, and package management. The main ROS client libraries (C++, Python, and Lisp) are geared toward a Unix-like system, primarily because of their dependence on large collections of open-source software dependencies.

1. Setup your computer to accept software from packages.ros.org:

   $ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

2. Set up your keys:

   $ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

3. Update:

   $ sudo apt-get update
   

4. Installation:

   $ sudo apt-get install ros-melodic-desktop-full

5. Before you can use ROS, you will need to initialize rosdep:

   $ sudo rosdep init
   $ rosdep update

6. Environment setup:

   $ echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
   $ source ~/.bashrc
   

1. Install the protobuf library, which is used as interface to Gazebo.:

   $ sudo apt-get install protobuf-compiler
   

2. Install tf. tf is a package that lets the user keep track of multiple coordinate frames over time:

   $ sudo apt-get install ros-melodic-geographic-msgs
   

3. Install move-base-msgs. This is necessary to perform some actions:

   $ sudo apt-get install ros-melodic-move-base
   $ sudo apt-get install ros-melodic-move-base-msgs 
   

1. installing catkin tools:

   $ sudo apt install python-catkin-tools
   

2. creating a catkin workspace:

   $ mkdir -p ~/manta_ws/src
   $ cd ~/manta_ws/src
   $ catkin_init_workspace
   

3. building the workspace created:

   $ cd ~/manta_ws/
   $ catkin build
   

4. source the current workspace and Gazebo model (replace YOUR_USER):

   $ echo "source manta_ws/devel/setup.bash" >> ~/.bashrc
   $ echo "export GAZEBO_MODEL_PATH=/home/YOUR_USER/manta_ws/src/manta_gazebo:$GAZEBO_MODEL_PATH" >> ~/.bashrc 
   $ echo "export ROS_PACKAGE_PATH=/home/YOUR_USER/manta_ws:$ROS_PACKAGE_PATH" >> ~/.bashrc
   
   

5. close the current window.

6. Open a new window. To make sure the workspace is properly overlayed run the following command and check that the output matches the next line:

   $ echo $ROS_PACKAGE_PATH
     /home/YOUR_USER/manta_ws:/opt/ros/melodic/share 
   
   

1. Enter the folder where you want to clone the repostory:

   $ cd manta_ws/src

2. Clone the repositories:

   $ git clone https://github.com/vortexntnu/Manta-AUV.git
   $ git clone https://github.com/vortexntnu/uuv-simulator.git
   $ git clone https://github.com/vortexntnu/vortex_msgs.git

Ps. You can also manually download the zip-folder in the up-right corner and extract the file
inside the src-folder of you workspace

3. Additionally install message_to_tf from hector_localization:

   $ cd ~/Downloads
   $ git clone https://github.com/tu-darmstadt-ros-pkg/hector_localization.git
   $ mv hector_localization/message_to_tf ~/manta_ws/src/message_to_tf

4. Compile the code by running "catkin build" inside the workspace:

   $ cd ~/manta_ws/
   $ catkin build vortex_msgs
   $ catkin build
   

5. Open a window and run Gazebo world, spawn Manta, thruster manager and navigation by executing:

   $ source ~/manta_ws/devel/setup.bash
   $ roslaunch simulator_launch robosub.launch 

6. Open a second window and run dp-controller:

   $ roslaunch vortex dp_control.launch 

7. Open a third window and launch the path generator client (this is not necessary for now).

   $ roslaunch waypoint_action_client send_waypoints_file.launch

1. Open a fourth and final window, and run the following line to change mode of controller:

   $ rosrun finite_state_machine service_client.py