Plugin to enable AquaNet stack of protocols for UWNs in ROS.
The following steps are valid for Ubuntu 18.04+ distribution with ROS-melodic system compiled and installed from source.
ROS compilation instructions can be found over here: https://wiki.ros.org/melodic/Installation/Source
$ROS_FOLDER variable corresponds to a folder name of your ROS directory, usually named as ros_catkin or ros_catkin_ws.
Clone aquanet-adapter repository to src folder of your ROS installation:
cd $ROS_FOLDER/src/
git clone https://github.com/dugdmitry/aquanet_adapter.git
Install additional libraries to support DCCL serialization:
echo "deb http://packages.gobysoft.org/ubuntu/release/ `lsb_release -c -s`/" | sudo tee /etc/apt/sources.list.d/gobysoft_release.list
sudo apt-key adv --recv-key --keyserver keyserver.ubuntu.com 19478082E2F8D3FE
sudo apt update
sudo apt install libdccl3-dev dccl3-compiler dccl3-apps
Recompile .proto messages with local version of protoc compiler:
cd $ROS_FOLDER/src/aquanet_adapter/dccl_messages/
protoc --cpp_out=. aquanet.message.proto -I . -I /usr/include
protoc --cpp_out=. navreport.proto -I . -I /usr/include
Compile aquanet_adapter module inside your ROS installation:
cd $ROS_FOLDER
source install_isolated/setup.bash
./src/catkin/bin/catkin_make_isolated --pkg aquanet_adapter --install -DCMAKE_BUILD_TYPE=Release
Create a symlink for the compiled aquanet-protobuf messages:
sudo ln -s ~/$ROS_FOLDER/devel_isolated/aquanet_adapter/lib/libaquanet.message.pb.so /usr/lib/libaquanet.message.pb.so
This section descirbes how to run ros-aquanet-adapter in the local mode for uuv_plume_simulator tests.
Start multi_rov_test.launch file:
roslaunch multi_auv_sim multi_rov_test.launch
Start aquanet-adapter by executing the following:
cd $ROS_FOLDER/src/aquanet_adapter/aquanet_scripts/
rosrun aquanet_adapter start local
Replace original topic name in leader.py to aquanet_outbound_waypoint name, indicating an entry point to the aquanet-adapter stack:
Original topic name: Waypoint_pub
New topic name: aquanet_outbound_waypoint
Replace original topic name in node2.py, node3.py and node4.py files to aquanet_inbound_waypoint name, indicating an exit point from the aquanet-adapter stack at the receiver side:
Original topic name: Waypoint_pub
New topic name: aquanet_inbound_waypoint
Execute the plume tracing script:
roslaunch multi_auv_sim start_mbplume.launch
Observe the output from the ros-aquanet-adapter console and make sure that the messages are successfully intercepted and forwarded. The following output should be observed:
[ INFO] [1662861151.355090286, 2925.418000000]: Forwarding message:
[ INFO] [1662861151.355172801, 2925.418000000]: position=(20.00,25.00) angle=-0.70
Run roscore, if not initialized already:
roscore
Start aquanet-adapter by executing the following:
cd $ROS_FOLDER/src/aquanet_adapter/aquanet_scripts/
rosrun aquanet_adapter start 1 2
The command above initializes the AquaNet communication stack, assigning address 1 for a local machine, and address 2 for the destination/remote machine.
If everything is succesfull, the following output should appear in the console:
----------------------------------------------------------
Aqua-Net
A network protocol stack for underwater networks
Developed by Zheng (James) Peng
All rights reserved
----------------------------------------------------------
user-gazebo:1:1-01070757>[ stack] Starting Aqua-Net.
user-gazebo:1:1-01070757>[ stack] Initializing Protocol Stack...
user-gazebo:1:1-01070757>[ stack] Protocol Stack Initialized.
----------------------------------------------------------
Virtual Modem (VMDM) Driver
A virtual modem for Aqua-Net
Developed by Zheng Peng in 2021
All rights reserved
----------------------------------------------------------
user-gazebo:1:1-01070759>[ vmdc] Starting VMDM Driver.
user-gazebo:1:1-01070759>[ vmdc] Local PHY address is: 1
----------------------------------------------------------
UW-ALOHA
A MAC protocol for underwater networks in Aqua-Net
Developed by Zheng (James) Peng
All rights reserved
----------------------------------------------------------
user-gazebo:1:1-01070803>[ uwaloha] Starting UW-ALOHA.
user-gazebo:1:1-01070803>[ uwaloha] Mac address is 1
user-gazebo:1:1-01070803>[ uwaloha] UW-ALOHA started.
----------------------------------------------------------
Static Routing Protocol
A routing protocol for underwater networks in Aqua-Net
Developed by Zheng (James) Peng
All rights reserved
----------------------------------------------------------
user-gazebo:1:1-01070805>[ sroute] Starting the Static Routing Protocol.
user-gazebo:1:1-01070805>[ sroute] Network address is 1
user-gazebo:1:1-01070805>[ sroute] Static Routing started.
If the following or a similar error appears during the compilation process:
In file included from /home/user/ros_catkin_ws/src/aquanet_adapter/dccl_messages/aquanet.message.pb.cc:4:0:
/home/user/ros_catkin_ws/src/aquanet_adapter/dccl_messages/aquanet.message.pb.h:12:2: error: #error This file was generated by a newer version of protoc which is
#error This file was generated by a newer version of protoc which is
^~~~~
/home/user/ros_catkin_ws/src/aquanet_adapter/dccl_messages/aquanet.message.pb.h:13:2: error: #error incompatible with your Protocol Buffer headers. Please update
#error incompatible with your Protocol Buffer headers. Please update
error:
/home/user/ros_catkin_ws/install_isolated/lib/aquanet_adapter/start: error while loading shared libraries: libaquanet.message.pb.so: cannot open shared object file: No such file or directory
The local version of the protoc compiler does not match with the one used for compiling the original .proto messages, presented as .cc and .h source files.
To fix this, execute Step 3 from the installation instructions:
cd $ROS_FOLDER/src/aquanet_adapter/dccl_messages/
protoc --cpp_out=. aquanet.message.proto -I . -I /usr/include
protoc --cpp_out=. navreport.proto -I . -I /usr/include
If during execution of aquanet the following error appears:
/home/user/ros_catkin_ws/install_isolated/lib/aquanet_adapter/start: error while loading shared libraries: libaquanet.message.pb.so: cannot open shared object file: No such file or directory
The precompiled aquanet-message protobuf library should be symlinked over here:
sudo ln -s ~/$ROS_FOLDER/devel_isolated/aquanet_adapter/lib/libaquanet.message.pb.so /usr/lib/libaquanet.message.pb.so
When executing aquanet-adapter, the following error appears:
sh: 1: ./run_aquanet.sh: not found
config_add.cfg: No such file or directory
Terminated
Make sure that aquanet-adapter is executed under aquanet_scripts folder:
cd $ROS_FOLDER/src/aquanet_adapter/aquanet_scripts/
rosrun aquanet_adapter start 1 2