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The software packages which power The OSU Underwater Robotics Team's AUV.

Home Page: https://uwrt.engineering.osu.edu

Shell 37.81% Python 62.19%

ros robosub robotics auv auvsi underwater-robotics-team vehicle uwrt catkin ohio-state-university

riptide_setup's Introduction

Riptide Software

The Riptide AUV Software Platform

This repository serves as a setup utility for the Underwater Robotics Team at The Ohio State University. Our mission is to develop the software which powers our autonomous underwater vehicles (AUVs) that compete in the Association for Unmanned Vehicle Systems International (AUVSI) RoboSub Competition in San Diego, CA. The AUV software is built on Robot Operating System 2 and handles low level controls, computer vision, mission-specific programs, and everything in between.

Supported Operating Systems: Ubuntu 22.04

The Underwater Robotics Team
The Ohio State University

Website | License

Initial Setup

Cloning riptide_setup

NOTE: It is common to see brackets such as <> to act as placeholders for actual code. Make sure you replace the ENTIRE phrase <SOMETHING_HERE> with the requested info.

mkdir -p ~/osu-uwrt/
cd ~/osu-uwrt/
git clone https://github.com/osu-uwrt/riptide_setup.git

Installing ROS and/or Dependencies

The riptide_software base currently uses ROS2 Humble Hawksbill and is dependent on various ROS packages and other libraries. Once you have cloned this repository run the following command to set everything up.

~/osu-uwrt/riptide_setup/setup.bash

During setup, the script will prompt the user for multiple options including the following:

desktop vs base ROS installation, (default: desktop) for a normal install press enter
release installation, (default: no) for a normal install press enter, yes is for deploying to the vehicle
simulator installation, (default no) for a no-simulation install press enter

Sourcing

There are a number of environment variables (mostly pertaining to ROS features and package paths) that are required when compiling/running our code. Each time you want to run one of those commands in a terminal, those environment variables will need to be set. This process is called "sourcing", and it is specific to working with catkin workspaces.

To automate this process, we add various commands to the bashrc file indicating what needs to be sourced. As a note, bashrc = Born Again Shell Run-Commands. Each time a new terminal/shell is opened, it executes any commands within this file.

To edit/open the bashrc file, use the terminal text editor, nano (this is a hidden file, hence the "."):

nano ~/.bashrc

To exit and save your changes, press CTRL-X, type "y", then press ENTER. For the changes to take effect, close and re-open all terminals. If you are lazy and don't want to close your terminals, then you will need to source the bashrc file in each terminal that you have open:

source ~/.bashrc

Chaining Workspaces

Each of the above repositories are built on colcon as well. For the entire set of repositories to work together, we must "chain" their setup.bash files within the bashrc file for complete functionality (in essence, we must source these setup.bash files in a specific order).

Below is a complete section of code that must be placed within the bashrc file for ALL of our working workspaces to be chained properly. The lines pertaining to software and dependencies can be commented/omitted if the user decides not to use them. The lines pertaining to /opt/ros/humble must remain.

source /opt/ros/humble/setup.bash
source ~/osu-uwrt/development/software/install/setup.bash
source ~/osu-uwrt/development/dependencies/install/setup.bash

Building riptide_software

ROS2 is compiled using the colcon build system, and so all of our repos will use colcon. The build command is colcon build while your terminal is in the correct directory

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riptide_setup's Issues

Teleop

The teleop stack needs updated to be compatible with the latest code. It hasn't been tested in ages, but would be useful for collecting video at the pool without needing the control stack to be fully functional.

We should be able to drive the robot without going through the attitude or depth controllers.

Attitude Controller Class

Convert the Attitude Controller Node to a class.

Make use of URDF for setting physical vehicle parameters

This will make simulation easier in the long run, and means we can change vehicle params in a single place, rather than having things like mass, moments of inertia, etc. defined in multiple places.

"Hotswap" thrusters

Need a mechanism for dealing with dead thrusters on the fly.

RPY Class Creation

Convert the RPY node to a class and give it a better name.

Controller Data Collection

We need to publish more data about what is going on inside our controllers in order to know why they are failing. As of right now, the input command and output command are plottable, but the error signal is not.

So, need to add publishers for the error signal in each controller.

Position Controller Class

Convert the Position Controller Node into a class.

IMU State Class

Convert the IMU State Node to a class.

Edit Travis config to build using Python utility

The Travis config needs to be updated to use the osu-uwrt Python utility rather than the underwater-ros/scripts folder which was removed as of PR #24.

Thrusters firing in wrong direction

Verify the sign and magnitude of the slopes in thrusters.yml
Update pwm_controller.cpp to include the intercepts for those slopes. This will get us outside the thrust deadband.
Confirm this works in the test tub before merging a fix.

Coprocessor.py: Depth Sensor

Processing the depth/switch messages one byte at a time is causing a huge bottleneck in that data stream. Need to process the data coming from the co-processor one line at a time using readline(). This should speed up the signal significantly and remove the delay.

Test before merging