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VantTec USV Main Repository

This is the main working repository for the USV (Unmanned Surface Vehicle) VantTec Platform. Official documentation here.

Packages

  • usv_comms: ROS package that allows the USV software to interface with the Digi XBee Hardware for communication with the ground control station.
  • usv_control: ROS package for the implementation of the control algorithms for the USV.
  • usv_missions: ROS package where the algorithms to solve the different RoboBoat 2024 challenges are implemented.
  • usv_perception: ROS package for the perception algorithms used in the USV.

Submodules

  • sbg_driver: ROS package that allows the USV to interface with SBG's IMU.
  • usv_libs: Control library.
  • velodyne: ROS package for the Velodyne LIDAR.
  • zed_ros_wrapper: ROS package for the Stereolabs ZED Camera.

Needed Dependencies

  • Nvidia CUDA
  • ZED SDK
  • Gazebo Sim - Garden
  • TensorRT
  • The following dependencies:
# To install dependencies automatically:
rosdep install --from-paths src -y --ignore-src

sudo apt-get install libpcap-dev libgeographic-dev ros-humble-perception-pcl ros-humble-pcl-msgs ros-humble-vision-opencv ros-humble-xacro ros-humble-tf-transformations libgz-sim7-dev libignition-transport12-dev libignition-msgs9-dev python3-sdformat13

sudo add-apt-repository ppa:borglab/gtsam-release-4.1
sudo apt install libgtsam-dev libgtsam-unstable-dev

How to start working?

Enter the following commands into your Ubuntu 22 terminal:

# Clone repository and its submodules
cd
git clone http://github.com/vanttec/vanttec_usv.git
cd vanttec_usv
git submodule update --init --recursive

# Build the usv_interfaces package
colcon build --packages-select usv_interfaces

# Set environment variables with install/setup.bash file
source install/setup.bash

HOW TOs (Pending: Modify for updated launch files):

Run mission #2:

ros2 launch usv_control usv_control_sim_launch.py
ros2 launch usv_missions obstacle_launch.py
ros2 run usv_utils obstacle_viewer_node
ros2 run usv_control obstacle_avoidance_node
ros2 run usv_missions mission_handler_node

Move the boat around:

ros2 launch usv_control usv_control_sim_launch.py
ros2 launch usv_control teleop_launch.py