ASV_ROS
| Reference |
|---|
| Dukciepond Website |
| My Website |
- If you have any question or suggestion, please feel free to contact me: ccpwearth@gmail.com (Pin-wei Chen)
Requirements Environment
- ROS kinetic
- Ubuntu 16.04
- OpenCV 3.3.1
Sensors
| Name | Type | Rostopic |
|---|---|---|
| IMU | ??? | /mavros/imu/static_pressure |
| GPS | ??? | /mavros/global_position/global_position |
| Depth sensors | ??? | ??? |
How to Build
- For ROS part
$ cd ~/
$ git clone https://github.com/championway/asv_ros.git
$ cd ~/asv_ros/catkin_ws
$ source ../environment.sh
$ catkin_make
Do the following everytime as you open new terminals
$ cd ~/asv_ros/
$ source environment.sh
Multi-point Navigation
- cycle:=False --> The ASV will stop at the end point.
- cycle:=True --> The ASV will keep doing the cyle navigation.
- You can skip typing "veh:=[Your vehicle name]", your default name will be "ASV"
Run Sensor
Open the sensor on the ASV, and make sure all the sensor ROS topics are publishing.
TODO
Run Navigation
$ roslaunch asv navigation.launch cycle:=[True/False]
Run Joystick
$ roslaunch asv joy.launch veh:=[Your vehicle name]
press "Start"
Start Navigation
$ rosservice call /ASV/start_navigation "data: true"
- Use "TAB" to help you type this command