Rumarino-Team/hydrus-software-stack

Getting Started:

Welcome to the Hydrus Software Stack. This is the collection of ROS packages for running RUMarino AUV.

How to install

Prerequisites:

Docker
Windows:
- Windows Subsystem System (WSL)
- usbipd
  Docker Installation

To install the dependencies and running the packages with Docker you need to run the following commands.

git clone https://github.com/Rumarino-Team/hydrus-software-stack.git
cd docker
chmod +x ./run_docker.sh
./run_docker.sh

Options for running the dockers.

the command ./run_docker.sh have the following options for running it lets discuss them.

There are 3 types of docker compose that the application can run. cpu only, nvidia gpu and Jetsons. Whenever you run the command ./run_docker.sh this will automatically detect your computer which one applies best to run for your specific case.

Aditionally there are 3 arguments that you add into the application for different purposes:

--deploy : This argument will make the Arduino upload data.
--volume : The volime the data and the things noel la eslpass miamae.
--force-cpu: This will run the docker compose that is cpu.

./run_docker.sh --deploy --volume --force-cpu

Roslaunch

There are three main nodes required to enable autonomy:

controllers : autonomy/src/controllers.py computer_vision: autnomy/src/cv_publishers.py mission_planning: ros_mission_planning.py

To run all the ros nodes at the same time you can use the autonomy.launch launch file.

roslaunch autonomy autonomy.launch

Download ROS Bags

ZED2i Camera: Download here

Run ROS Bags

Download the ROS bag file.
Play the bag with:
```
rosbag play <file_path>
```
To loop playback:
```
rosbag play <file_path> --loop
```