TAUV-MONO

This is the monorepo for all Tartan-AUV vehicle code, tools, and infrastructure.

Development / Sim Setup

TODO

Conventions

We use NED for most things. (If you see ENU somewhere, flag it since we should update all code to be consistent with the NED frame system)

TODO: move this somewhere else

ROS Packages

Dependencies

ROS Package dependencies MUST be acyclic. Therefore, only create new ros packages when you really want to encapsulate something that does not need to be tightly coupled to the rest of the system.

Current dependency tree:

tauv_mission
- tauv_common
- tauv_vehicle
    - tauv_common

TODO: is this even accurate..?

Package list

Each package contains a more detailed readme in their folder.

tauv_common

This package is the common shared nodes between all the other packages. Most other packages will depend on tauv_common, but tauv_common should not depend on any other tauv packages with the exception of tauv_config. Core frameworks like watchdogs, exceptions, thruster managers, and things like that live in common. In addition, reusable navigation, controls, state estimation, planning, etc code should live here. Common perception code should live here, such as object detection, point cloud registration, and things that can be reused.

tauv_mission

This is where mission code lives. Mission code is defined as code that is specific to a single mission. For example, code to navigate dice, hit buoys, pick up garlic, or go through the gate is mission-specific. If it is specific to a single competition element, it belongs in here. In addition to mission-code, the mission package also contains system-wide launchfiles, such as system.launch.

tauv_vehicle

This is where driver code lives. Abstracts the vehicle from the mission. This package is designed to mirror the behavior of the simulator, but with real hardware. Things like thruster drivers, sensor drivers, etc should live here. Vehicle-specific hardware launchfiles live here as well.

tauv_config

this folder contains one package for each vehicle as well as a tauv_config package that simply declares dependencies on the other packages. Packages relying on vehicle configuration info should depend on the tauv_config package, and use the model_name arg when determining paths to configuration files. Vehicle_description packages contain URDFs, config yamls, thruster allocation matrices (TAMs), meshes for gazebo, and other vehicle-specific info.

tauv_gui

This is the package for the operator interface. ROS Multimaster is used to connect the gui to the sub. Both platforms need to be running avahi for this to work, and you need to run the setup script in the gui package before launching it.

uuv-simulator

This folder contains all of the simulator packages and gazebo plugins necessary to simulate the vehicle. UUV-Simulator depends on the vehicle_description packages to describe gazebo meshes and URDFs including hydrodynamics information.