GETTING_STARTED.md

Autonomous Marine Systems Software Setup Guide

The following steps are a checklist for ensuring you are able to use the open-source software that is used within this course.

Install Ubuntu

You may skip this step if Ubuntu 18.04 is already installed on your machine.

• OS: Ubuntu 18.04 (not Ubuntu 20.04), see Download Page and This Installation Guide for Dual Boot
• Configure Wi-Fi: If using DTU's DTUSecure or Eduroam WiFi networks, then follow the configuration instructions Here

Install Robot Operating System

• Melodic Morenia: Follow the installation instructions Here, make sure to specify ros-melodic-desktop-full when installing.

ROS Packages

• UUV Simulator: Follow the installation instructions Here
• MAVROS: Follow the installation instructions Here
  • NOTE: replace "kinetic" with "melodic" in the apt-get install commands.
  • NOTE: Make sure to install the GeographicLib datasets after installing mavros! You will have to execute ´´´sudo ./install_geographiclib_datasets.sh"´´´
• BlueROV2 Gazebo and ArduSub Modelling
  1. Follow instructions to create a new ROS workspace Here (choose Melodic).
  2. Clone this repository into your workspace's src directory (called catkin_ws/src in this guide) git clone https://github.com/FletcherFT/bluerov2.git
  3. Execute catkin_make in the top-level directory of catkin_ws.

Install Ardusub Software-In-The-Loop

• SITL: Follow the installation instructions Starting Here, and Be Sure to Follow Links.

  • NOTE: Follow "Cloning with the command line" section for minimum fuss. When moving on to the BUILD.md section, you do not have to clone ardupilot again.

• ArduSub Configuration: run

./waf configure --board sitl

./waf sub

Install QGroundControl

• APP: Install the application Here, follow instructions for Ubuntu Linux.

Test ArduSub SITL and QGroundControl

NOTE: For this you will need access to a gamepad joystick (XBox, Logitech, Nintendo Switch Pro, Playstation etc.), or a joystick-keyboard emulator for linux such as QJoyPad

• ArduSub SITL: Follow the instructions Here and launch a SITL simulation.
• QGroundControl: Double Click on APP, configure joystick.

Test UUV Simulator

• Open ~/.ignition/fuel/config.yaml, replace "api.ignitionfuel.org" with "fuel.ignitionrobotics.org"
• Follow instructions Here

Test ArduSub SITL and MAVROS

** NOTE, this is still a work in progress, the base_link -> thruster TFs are a little strange for some reason but this is purely cosmetic.**

• Launch an instance of ArduSub simulation

  sim_vehicle.py -v ArduSub -l 55.60304,12.808937,0,0 --map --console

• Launch MAVROS

  • with joystick: roslaunch bluerov2_bringup bringup_ardusub_sitl.launch

  • with keyboard: roslaunch bluerov2_bringup bringup_ardusub_sitl.launch use_joystick:=false

• With Gazebo Camera Simulation

  • with joystick: roslaunch bluerov2_bringup bringup_ardusub_sitl.launch gazebo:=true

  • with keyboard: roslaunch bluerov2_gazebo start_ardusub_sitl_demo.launch gazebo:=true use_joystick:=false