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