Sunshine

"Illuminating the world, information theoretically."

Installation

# Install rost-cli (including dependencies)
sudo apt-get update
sudo apt-get install libboost-all-dev libflann-dev libfftw3-dev libopencv-dev libsndfile1-dev libgoogle-glog-dev cmake
git clone [email protected]:warplab/rost-cli.git
pushd rost-cli
./install-rost.sh # check rost-cli README.md for latest install instructions
popd

# Install sunshine (including dependencies)
## Ubuntu 18.04 MELODIC:
# sudo apt-get install ros-melodic-desktop ros-melodic-perception libopencv libboost1.65-dev
## Ubuntu 20.04 NOETIC:
sudo apt-get install ros-noetic-desktop ros-noetic-perception libopencv-dev libboost1.71-dev
cd $CATKIN_WS/src
git clone [email protected]:warplab/ros/sunshine.git
cd $CATKIN_WS
catkin build sunshine

Quick Start

Common launchfiles:

• desktop.launch: Uses webcam feed (requires gstreamer to be installed)
• sentry.launch: Uses data from the Sentry503 mission (requires BUILD_EXT flag and ds_msgs dependency, see below)
• TODO: Finish listing launchfiles

Dependencies

Required:

• rost-cli
• ROS (roscpp, rosbag)
• Catkin Packages:
  • sensor_msgs
  • std_msgs
  • cv_bridge
  • image_transport
  • sunshine_msgs
  • geometry_msgs
  • tf2
  • tf2_ros
  • tf
• Boost 1.65+
• PCL
• OpenCV 3.2+

Optional:

• Eigen3
• Limbo and NLOpt
• CLEAR (ask Stewart)
• ds_msgs (WHOI Deep Submergence Lab ROS message definitions)