Software installation

Vortex-AUV installation

Prerequisites

• Ubuntu 20.04
• ROS noetic (Follow the official installation guide)

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

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 python3-catkin-tools libgeographic-dev

then

pip3 install pyquaternion smbus scipy websocket-client adafruit_pca9685 rospkg bluerobotics-ping

To get rid of any pesky python2 errors still left behind, run:

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

Note that this removes python2 from your system entirely!

Step 2: Create a ROS workspace

1. creating a catkin workspace:

   mkdir -p ~/vortex_ws/src && cd ~/vortex_ws
   catkin build

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

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

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

    cd ~/vortex_ws/ && 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 ~/vortex_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 20
• ROS noetic
• Vortex-AUV must be installed

Installation (docker)

1. Installation

Install Docker and docker-compose:

sudo apt-get update && sudo apt-get install apt-transport-https ca-certificates curl gnupg lsb-release

 curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg

sudo apt-get update && sudo apt-get install docker-ce docker-ce-cli containerd.io

 sudo curl -L "https://github.com/docker/compose/releases/download/1.29.2/docker-compose-$(uname -s)-$(uname -m)" -o /usr/local/bin/docker-compose

sudo chmod +x /usr/local/bin/docker-compose

sudo ln -s /usr/local/bin/docker-compose /usr/bin/docker-compose

2. Build and run the container

Once Docker and docker-compose is installed, you can clone the repo and build the container that the simulator runs in:

git clone -b master_containerized https://github.com/vortexntnu/Vortex-Simulator/

cd ./Vortex-Simulator && sudo docker-compose build

sudo docker-compose up -d vortex-simulator

sudo docker-compose exec vortex-simulator /bin/bash

You are now inside the container, and may build the simulator.

cd ~/sim_ws && catkin build

Installation (non-docker)

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