NPES SAUVC

Git Repository for NPES SAUVC!

Use this repository to keep track and update the AUV Project for the annual SAUVC event.

If you are new to all of this, please click here for links to learn.

Requirements

Operating System: Ubuntu 16.04 (Xenial Xerus) Desktop.

Installation for Dual-Boot by either partitioning your drive or making a bootable USB drive.

Software

1. ROS Kinetic or newer
   • bluerov_ros_playground
   • cv_camera
   • mavros
2. Python
   • Pip
   • OpenCV
   • NumPy
3. Gazebo* (for simulation only)
   • freefloating_gazebo
4. Git

Asterisk * (Optional)

Installation

1. Update package list and system software to lastest version:
   • sudo apt-get update && sudo apt-get -y upgrade
2. Install ROS Kinetic:
   • Select Ubuntu as your platform
   • Install ros-kinetic-full-desktop
3. Install mavros:
   • sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras
   • run install_geographiclib_datasets.sh
   • If you cannot find it, get it using wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh ./install_geographiclib_datasets.sh
4. Install pip:
   • sudo apt-get install python-pip
   • Check if installed by running `pip -V'
5. Install OpenCV and NumPy:
   • pip install opencv-python numpy
6. Install Git
   • apt-get install git-core
   • Chech if installed by running git -V

Cloning (Only after ROS is installed)

1. Open Terminal by pressing Ctrl + Alt + T
2. Git Clone this repository to an arbitrary directory:
   • git clone https://github.com/ashley-koh/sauvc-2019
3. Go into copied repository:
   • cd sauvc-2019
4. Open Files Application
5. Drag and drop following folders into your ~/catkin_ws/src directory:
   • opencv_converter
   • controller
6. Go into ROS package source directory in terminal:
   • cd ~/catkin_ws/src
7. Clone bluerov_ros_playground into the directory:
   • git clone https://github.com/patrickelectric/bluerov_ros_playground
8. Clone cv_camera into the same directory:
   • git clone https://github.com/OTL/cv_camera.git
9. Build and Install
   • catkin_make

Usage

1. Open Terminal using Ctrl + Alt + T
2. Go into ROS workspace directory:
   • cd catkin_ws
3. Source setup file
   • `source devel/setup.bash'
   • Make terminal run command whenever you open a new terminal by running echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
4. Run Master
   • roscore

Contributing to NPES SAUVC

Contact Ashley: HP: +65 92992543 Email: [email protected]

Credits

• Ashley Koh Jia Jhin
• Zhu Zhan Yan
• Tan Khay Liang

LICENSE

NPES SAUVC is under the MIT License