dkrystall/robosub2018

src folder for robosub 2018 cs team's ROS catkin workspace

Robosub 2018

Uses ROS Lunar for Ubuntu 17.04 and python 2.7.13

First time setup:

In terminal:

• git clone https://github.com/CSULA-RoboSub/Robosub2018.git or [email protected]:CSULA-RoboSub/Robosub2018.git
• cd Robosub2018/robosub/scripts
• python installer.py

After installation:

• Restart computer
• cd ~/robosub_ws/
• catkin_make

Running the program:

In terminal:

• enter command to navigate to workspace: roscd

• enter command to navigate to the workspace src folder: cd ../src

• enter command to run script: ./auv_start.bash

or:

• open a new terminal (ctrl+alt+t ubuntu shortcut) and enter following command: roscore

• open a new terminal and enter following commands: roscd robosub/scripts/ python robosub_cli.py

• open a new terminal and enter following command: rosrun ez_async_data ez_async_data

• open a new terminal and enter following commands: roscd pathfinder_dvl/scripts/ python pathfindDvl.py

• open a new terminal and enter following command: rosrun rosserial_python serial_node_mega.py

• open a new terminal and enter following command: rosrun hardware_interface hardware_interface

then:

• once all terminals are open and running the corresponding programs
  • on the robosub_cli.py terminal enter '?' without quotes to see available commands
  • this command must be first typed for the AUV to maneuver: motor on
  • this command can be typed to kill the motors after: motor off
  • to run AUV manually with keyboard control type this command a list of keybindings will appear: navigation keyboard
  • to run the Computer Vision test task type this command to show list: task ?
  • to run all the task though the order which they are listed: navigation cv 1
  • to cancel any task that is run enter: task