inspiration_robosub2020

About

This is Team Inspiration's repository for the (now-virtual) 2020 RoboSub season.

Setup and Dependencies

The AUV's software has been split into two primary packages:

• Navigation (navigation and movement control)
• Vision (computer vision)

Installing the program and its dependencies

In order to run this software on a computer/AUV, follow the steps below (this assumes that you are using Ubuntu):

1. Obtain the software in this repository

   git clone https://github.com/InspirationRobotics

2. Install a version of ROS that is appropriate to your version of Ubuntu

3. Install MAVROS

Building and running the program

1. Build and install the program

   catkin_make install

2. Source the setup file

   source devel/setup.bash

3. Start roscore

   roscore

4. Start MAVROS. Note: if you are using SITL, you will have to add the address of the simulated vehicle, ex: "fcu_url:=0.0.0.0:14550"

   roslaunch mavros apm.launch

5. (optional) Arm the vehicle if you aren't doing so within the program

   rosrun mavros mavsafety arm

6. Run the program

   rosrun navigation main

Additional notes

• If you intend to run the vision programs then you must install their dependencies via pip or some other method