VantTec USV Main Repository

This is the main working repository for the USV (Unmanned Surface Vehicle) VantTec Platforms.

Packages

• usv_comms: ROS package that allows the USV software to interface with the Digi XBee Hardware for communication with the ground control station.
• usv_control: ROS package for the implementation of the control algorithms for the USV.
• usv_master: ROS package containing the master node for the USV ROS software.
• usv_missions: ROS package where the algorithms to solve the different RoboBoat 2024 challenges are implemented.
• usv_perception: ROS package for the perception algorithms used in the USV.

Submodules

• sbg_driver: ROS package that allows the USV to interface with SBG's IMU.
• usv_libs: Control library.
• velodyne: ROS package for the Velodyne LIDAR.
• zed_ros_wrapper: ROS package for the Stereolabs ZED Camera.

How to start working?

Enter the following commands into your Ubuntu terminal with Docker:

cd
git clone --recurse-submodules http://github.com/vanttec/vanttec_usv.git
cd vanttec_usv

# Building for docker
docker build -t usv .

# Running docker
docker run -it -v "$PWD:/ws" usv

# Installing gazebo ignition
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update

sudo apt-get install libignition-gazebo7-dev

sudo apt-get install ros-humble-ros-ign-bridge