Angler :fish:

Angler is a general ROS 2 framework designed to support research, development, and deployment of underwater vehicle manipulator systems (UVMS).

Main Features

The main features of the project include:

• Support for developing custom whole-body controllers alongside the existing control algorithms like Set-Based Task-Priority Inverse Kinematic (TPIK) control
• Support for developing custom trajectory and motion planning algorithms
• ArduSub + Gazebo SITL integration for evaluating the performance of your system in a simulation environment
• RViz2 integration for visualization
• Modular design to enable integration of personalized platforms
• Integration of Blue to provide support for custom vehicle controllers like sliding-mode control

Installation

Angler is currently supported on Linux, and is available for the ROS distributions Humble, Iron, and Rolling. To install Angler, first clone this project to the src directory of your ROS workspace, replacing $ROS_DISTRO with the desired ROS distribution or main for Rolling:

git clone -b $ROS_DISTRO git@github.com:evan-palmer/angler.git

After cloning the project, install all external dependencies using vcs:

vcs import src < src/angler/angler.repos

Finally, install the ROS dependencies using rosdep, again, replacing $ROS_DISTRO with the desired ROS distribution:

rosdep update && \
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

Quick start

ROS 2 launch files have been provided to start the Angler system. To launch the SITL interface for the BlueROV2 Heavy with a Reach Alpha 5 manipulator, run

ros2 launch angler_bringup bluerov2_heavy_alpha.launch.py use_sim:=true

A full description of the launch arguments and their respective default values can be obtained by running the following command:

ros2 launch angler_bringup bluerov2_heavy_alpha.launch.py --show-args

Getting help

If you have questions regarding usage of Angler or regarding contributing to this project, please ask a question on our Discussions board!

License

Angler is released under the MIT license.