petterhs/manta-auv

Vortex NTNU, Manta AUV repository

Prerequisites

Linux distributions such as Wily (Ubuntu 15.10), Xenial (Ubuntu 16.04) and Jessie (Debian 8)
C++ 11 compiler or newer.

1. Install ROS kinetic for Ubuntu (If you do not have it already)

This should take no more than 3 minutes. If you have another version of linux but Ubuntu, follow this guide: http://wiki.ros.org/kinetic/Installation. It is very important that you follow the installation guide and instructions on how to run the guide EXACTLY as stated or you will get running errors. Simply copy and paste the commands to your terminal command window

Robot operating system (ROS) provides services designed for heterogeneous computer cluster such as hardware abstraction, low-level device control, implementation of commonly used functionality, message-passing between processes, and package management. The main ROS client libraries (C++, Python, and Lisp) are geared toward a Unix-like system, primarily because of their dependence on large collections of open-source software dependencies.

Setup your computer to accept software from packages.ros.org:

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys:

$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

Update:
```
$ sudo apt-get update
```

Installation:

$ sudo apt-get install ros-kinetic-desktop-full

Before you can use ROS, you will need to initialize rosdep:
```
$ sudo rosdep init
$ rosdep update
```

Environment setup:

$ echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

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

Install the protobuf library, which is used as interface to Gazebo:
```
$ sudo apt-get install protobuf-compiler
```
Install tf. tf is a package that lets the user keep track of multiple coordinate frames over time:
```
$ sudo apt-get install ros-kinetic-message-to-tf
```

3. Now that you have ROS Kinetic installed. Create ROS workspace

This is necessary to be able to run the simulation package that I have created

creating a catkin workspace:

$ mkdir -p ~/manta_ws/src
$ cd ~/manta_ws/src
$ catkin_init_workspace

building the workspace created:
```
$ cd ~/manta_ws/
$ catkin build
```

source the current workspace:

$ echo "source manta_ws/devel/setup.bash" >> ~/.bashrc

close the current window.

Open a new window. To make sure the workspace is properly overlayed:

$ echo $ROS_PACKAGE_PATH
  /home/youruser/manta_ws/src:/opt/ros/kinetic/share

4. How to run the simulation

Enter the folder where you want to clone the repostory:
```
$ cd manta_ws/src
```

Clone vortex_msgs:

$  git clone https://github.com/vortexntnu/vortex_msgs.git

Clone the repository:

$  git clone https://github.com/vortexntnu/Manta-AUV.git

Ps. You can also manually download the zip-folder in the up-right corner and extract the file
inside the src-folder of you workspace

Compile the code by running "catkin build" inside the workspace:
```
$ cd ~/manta_ws/
$ catkin build
```
Open a terminal and run Robosub environment: REQUIRES THIS REPO https://github.com/vortexntnu/uuv-simulator.git

	$ roslaunch simulator_launch autonomy.launch

Or:

	$ roslaunch simulator_launch robosub.launch

to launch enable xbox-controller

Open a second window and run the guidance node:

$ roslaunch trajectory_generator send_waypoints_file.launch

5. Start the DP controller

Open a fourth and final window, and run the following line to start the simulation:
```
$ roslaunch vortex dp_control.launch
```
Change the mode of the controller:
```
$ rostopic pub -r 20 /manta/mode
```
and set mode to [false, true, false, false, false, false]

Build dependencies

Navigate to manta_ws
```
$ cd ~/manta_ws/
```

Install dependencies

$ rosdep install -y --from-paths src --ignore-src --rosdistro kinetic
$ pip install rospkg --user
$ pip install empy --user

petterhs / manta-auv