Software Setup v2

Intro

Update to Software Setup v1

Setup

Install Dependencies

• Install pip dependencies

pip3 install "ultralytics==8.3.176" "numpy<2.0" pandas --break-system-packages 

• Install apt dependencies ROS2 Jazzy

sudo apt install ros-jazzy-robot-localization ros-jazzy-tf-transformations

Pontus Installation

• Install Pontus

cd mrg_ws/src
git clone https://github.com/gt-marine-robotics-group/Pontus.git

Simulation

• Launch odom simulation

ros2 launch pontus_bringup odom_simulation.launch.py 

Example of Gazebo configured for Sonar Data Visualization

Sensor Visualization & Debugging

Gazebo

• Visualize simulated sonar hit locations

RViz

• Run RViz

rviz2

Perception

• Launch Perception nodes

ros2 launch pontus_perception perception.launch.py 

ros2 launch pontus_perception detection_services.launch.py auv:=sim

Mapping/Localization

Uses perception outputs + robot state (DVL + EKF) to maintain a global estimate of the environment.

ros2 launch pontus_mapping mapping.launch.py 

Controls

RQT

• Run rqt

rqt

• To display topics: Click plugins → topics → message publisher

• Configure rqt to test position controller

  • Select command_mode and click the + icon to add the topic
    • Set to mode 7
  • Add cmd_pos to test the position controller

  Ex: set pos x to 2, cmd_vel will change until reaches x=2

Plotjuggler

• Install plotjuggler

sudo apt install ros-humble-plotjuggler-ros

• Run plotjuggler

ros2 run plotjuggler plotjuggler

• When the window loads, click start, and select topics, then drag variables (e.g. /cmd/linear/x) onto the main plot area

• Testing position controller

• depth controller: linear z

  • going against buoyancy
  • looks at position moving away from where it should be and makes adjustment to push it down

• not running SLAM

  • Get position from DVL and robot_localization runs extended kalman filter

Autonomy

• Run autonomy nodes