RoboSub

YOLO

• see YOLO

NektonDocker Set up

cd NektonDocker

• Edit docker-compose.yml to add mount path

docker-compose.yml

services:
  mrg:
    image: mwoodward6/mrg:jazzy
    container_name: mrg
    environment:
      - DISPLAY=:1.0
      - USER=root
    volumes:
      # - <PATH_GOES_HERE>:/root/mrg_ws # Replace  <PATH_GOES_HERE> with the path to your mrg_ws folder (If you cloned it to your home directory in WSL this would be /home/$USER/mrg_ws)
      - /home/$USER/mrg_ws:/root/mrg_ws
 
      
    ports:
      - 127.0.0.1:6080:80
      - 9090:9090
      - 8080:8080
    tty: true
    restart: unless-stopped

• Switched to RoboSub Docker

Pontus

• Run container

docker-compose up

• Install Pontus

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

ros2 launch pontus_controller rc.launch.py auv:=sim

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Competition branch

• Switch to robosub_comp_2025 branch

git checkout robosub_comp_2025

GPG

• see ROS GPG Key

Dependencies

• install robot localization

sudo apt install ros-humble-robot-localization

pip install  transforms3d
sudo apt install ros-humble-tf-transformations

• Install plotjuggler

sudo apt install ros-humble-plotjuggler-ros

RQT

• set up rqt to test position controller

• run rqt

rqt

• Display topics: plugins → topics → message publisher

Plotjuggler

• 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

  • set pos x to 2, cmd_vel will change until reaches x=2 don’t have teleop_twist_keyboard running (sending 0’s)

• 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

Tmux

9/1/25

• Robosub Tmux

Waypoint Visualization

• Patch transforms3d by editing /usr/lib/python3/dist-packages/transforms3d/quaternions.py

_MAX_FLOAT = np.float64
_FLOAT_EPS = np.finfo(float).eps

• Install Pandas

pip install pandas

• Run waypoint visualizer

ros2 launch pontus_autonomy run_info_visualizer.launch.py

Nav2

• Install the Navigation2 stack- Nav2
  • This includes nav2_map_server and other core packages like nav2_bt_navigator, nav2_controller, and nav2_lifecycle_manager

sudo apt install ros-humble-navigation2

Rviz

Foxglove

Installation

• See Foxglove Setup for getting started

Run Foxglove with the docker container

• Get Host IP address in Powershell

ip config

• Add port 8765 to docker-compose.yml

    ports:  
      - 8765:8765  # Exposes Foxglove Bridge WebSocket

Connect Foxglove to ROS2

• Open Foxglove Studio
• To connect to your ROS 2 stack, click “Open connection”, select the “Foxglove Websocket” tab, and configure your “WebSocket URL”.

ws://<hostip>:8765