Repository for Team Merlion to participate in SAUVC 2018. This is a ROS-based project.
A demo video of our team AUV can be found at Team Merlion AUV
- Win
-
ROS Kinetic (Ubuntu 16.04 LTS).
- ROS Indigo (Ubuntu 14.04 LTS) may work but is no longer supported.
-
Install package dependencies:
sudo apt-get install ros-kinetic-usb-cam ros-kinetic-mavros ros-kinetic-joy
sudo apt-get install ros-kinetic-rosserial-arduino ros-kinetic-rosserial
- (Optional) Arduino (IDE, rosserial_arduino for low-level EStop) and Servo
Additionally, install bluerov package from source (apt does not work).
Follow the instruction from here.
IP address 192.168.1.119(eth0)/192.168.1.129(wlan) was reserved for NUC
From ground PC:
sudo apt-get install powerwake
powerwake 192.168.1.119
Udev rules files are stored in merlion_setup/udev_rules.
After adding the necessary rules into /etc/udev/rules.d/, do
sudo udevadm control --reload-rules && sudo service udev restart && sudo udevadm trigger
From ground PC:
Add these lines on ground PC into ~/.bashrc to work with NUC ROS master
export ROS_MASTER_URI=http://192.168.1.119:11311
export ROS_IP=192.168.1.xxx # your IP
Remove (comment) those lines if you want to work with a local ROS master
TODO: Update this
roslaunch merlion_bringup merlion_bringup.launch
In ground PC, plug in the joystick and use QGroundControl or ros teleop
roslaunch merlion_bringup joy_bringup.launch
roslaunch merlion_bringup sensors.launch
roslaunch merlion_bringup image_view.launch
Fixing webcam node died:
sudo rmmod uvcvideo
sudo modprobe uvcvideo