Bruin Underwater Robotics (2024-2025)

2024-2025 repository for ASME @ UCLA's Bruin Underwater Robotics Team

Dependencies

Requires Ubuntu 22.04 + ROS2 Humble

Package dependencies:

• controller: ros-<DISTRO>-control-toolbox
• eskf: ros-<DISTRO>-robot-localization, ros-<DISTRO>-mavros
• bur_auv: ros-<DISTRO>-navigation2, ros-<DISTRO>-behaviortree-cpp
• usb_camera_driver: ros-<DISTRO>-image-common
• drivers: pigpio; see https://github.com/joan2937/pigpio/tree/master

This project contains the following Git submodules:

• https://github.com/ASME-BUR/bur_rov_msgs
• https://github.com/micro-ROS/micro_ros_setup
• https://github.com/ptrmu/ros2_shared
• https://github.com/klintan/ros2_usb_camera

Build Instructions

To build all packages:

1. Install all dependencies: sudo apt-get install <DEPENDENCIES>

   i. Follow the instructions at https://github.com/joan2937/pigpio/tree/master for installing pigpio

2. Clone this repository: git clone https://github.com/ASME-BUR/2024-2025.git

3. Initialize Git submodules: cd 2024-2025 && git submodule init && git submodule update

4. Build ROS packages: cd ros2_ws && colcon build --symlink-install

Run Instructions

To run as an AUV, run:

1. On Raspberry Pi (via SSH):

   i. Launch ROS nodes: ros2 launch bur_rov rov.launch.py

2. On Jetson Orin (via SSH):

   i. Launch ZED node: ros2 launch bur_vision zed.launch.py

   ii. Run YOLO: ros2 run yolo yolo

Micro-Ros-Agent

To Run Micro-Ros-Agent separately, enter:

ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0

• Serial indicates the transport type
• --dev is the port