Software installation

Vortex-AUV installation

Noetic requirements:

sudo apt install protobuf-compiler ros-noetic-rosbridge-server ros-noetic-message-to-tf ros-noetic-geographic-msgs ros-noetic-move-base ros-noetic-move-base-msgs python3-osrf-pycommon python3-openpyxl python-yaml python-enum34 python3-pip

then

pip3 install pyquaternion smbus scipy websocket-client adafruit_pca9685 rospkg

To get rid of any pesky python2 errors still left behind

sudo apt remove python2
sudo apt autoremove
sudo apt install python-is-python3

Prerequisites

• Ubuntu 18
• ROS melodic (Follow the official installation guide)

Step 1: Install dependencies to interface with drivers, Gazebo, etc.

Quick command for installing all dependencies:

sudo apt install protobuf-compiler ros-melodic-rosbridge-server ros-melodic-message-to-tf ros-melodic-geographic-msgs ros-melodic-move-base ros-melodic-move-base-msgs python-catkin-tools python-openpyxl

Explanations for the dependencies:

1. Install the protobuf library, which is used as interface to Gazebo:

    sudo apt install protobuf-compiler
   

2. Install rosbridge-server to interface with sensor and actuator drivers on the physical Manta.

    sudo apt install ros-melodic-rosbridge-server
   

3. Install tf. tf is a package that lets the user keep track of multiple coordinate frames over time:

    sudo apt install ros-melodic-message-to-tf
   

4. Install tf. tf is a package that lets the user keep track of multiple coordinate frames over time:

    sudo apt install ros-melodic-geographic-msgs
   

5. Install move-base-msgs. This is necessary to perform some actions:

    sudo apt install ros-melodic-move-base
    sudo apt install ros-melodic-move-base-msgs
   

6. Install catkin tools, which will be used to build the project:

   sudo apt install python-catkin-tools

7. Install openpyxl, which is used for parsing an excel sheet in PCA9685_thruster_interface

   sudo apt install python-openpyxl

8. Install bluerobotics-ping, which is used by the ping360 sonar
   pip install bluerobotics-ping

Step 2: Create a ROS workspace

1. creating a catkin workspace:

   mkdir -p ~/vortex_ws/src
   cd ~/vortex_ws
   catkin_init_workspace

2. building the workspace created:

   cd ~/vortex_ws/
   catkin build

3. source the current workspace:

   echo "source vortex_ws/devel/setup.bash" >> ~/.bashrc

4. close the current terminal.

Step 3: Download and build Vortex AUV and vortex_msgs

1. Enter the folder where you want to clone the repository:

    cd vortex_ws/src

2. Clone the repository:

     git clone https://github.com/vortexntnu/Vortex-AUV.git
     git clone https://github.com/vortexntnu/vortex_msgs.git

3. Compile the code by running "catkin build" inside the workspace:

    cd ~/vortex_ws/
    catkin build vortex_msgs
    catkin build
   

Step 4: Install the ZED-ROS-Wrapper

Official documentation

1. Download and install ZED SDK

   1. Download from Stereolabs
   2. Enter the directory with the file:

    cd path/to/download/folder

   3. Make the file executable:

    chmod +x ZED_SDK_Ubuntu18_v3.0.run
   

   4. Run the installer:

    ./ZED_SDK_Ubuntu18_v3.0.run
   

2. Enter the catkin workspace:

    cd ~/manta_ws/src

3. Clone the zed-ros-wrapper repo:

    git clone https://github.com/stereolabs/zed-ros-wrapper.git

4. Jump up to parent directory:

    cd ../

5. Install dependencies:

    rosdep install --from-paths src --ignore-src -r -y

6. Build the package:

    catkin build

7. Source the package:

    source ./devel/setup.bash

Vortex-Simulator installation

Prerequisites

• Ubuntu 18
• ROS melodic
• Vortex-AUV must be installed

Installation

1. Enter the folder where you want to clone the repository:

   cd vortex_ws/src

2. Clone the repository:

   git clone https://github.com/vortexntnu/vortex-simulator.git

3. Compile the code by running "catkin build" inside the workspace:

   cd ~/vortex_ws/
   catkin build