Nautilus One AUV

Status: created working gazebol models of the AUV and competition accurate pool world.

Rulebook Edition 📖: Rulebook 5.1.4

Contains collection of ROS2 packages that provide AUV functionality targeted towards the SAUVC 2025 competition for AUV MARK I.

AUV MARK I uses ArduSub as the flight controller and mavros as the GCS.

AUV MARK I runs in Gazebo Garden using the standard buoyancy, hydrodynamics and thruster plugins. The connection between ArduSub and Gazebo is provided by ardupilot_gazebo.

Pre-requisites

Check out the installation file.

The project assumes that you are using zsh like a sane human.

To edit a BehaviorTree using Groot, install these dependencies:

sudo apt install qtbase5-dev libqt5svg5-dev libzmq3-dev libdw-dev

Get the source code for Groot

cd ~/auv_ws
rosdep install --from-paths src --ignore-src -r -y
cd ~/auv_ws/src/
vcs import . < auv_ros2/third_parties.repos
cd ~/auv_ws
colcon build --symlink-install

Usage

Manual Control with the real robot

Launch MAVProxy when the robot is connected via ethernet.

mavproxy.py --master=udp:0.0.0.0:14550 --out=udp:0.0.0.0:14660

Manual Control in Sim

To launch the simulation environment:

ros2 launch auv_bringup sim_launch.py world:=pool mavros:=False

Launch MAVProxy in a 2nd Terminal:

mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551 --out udp:0.0.0.0:14550 --console

You can use MAVProxy to send commands directly to ArduSub:

arm throttle
rc 3 1450
rc 3 1500
mode alt_hold
disarm

RC channels:

• RC 3 -- vertical
• RC 4 -- yaw
• RC 5 -- forward

Autonomously move the AUV for 10s

To launch the simulation environment:

ros2 launch auv_bringup sim_launch.py world:=pool

Launch the forward executable in a 2nd Terminal:

ros2 run auv_autonomy forward

To launch the cameras connected to jetson

ros2 launch usb_cam cameras.launch.py

To check camera feed

rviz2

and add image and choose the correct topic.

Debug

1. If things don't work, make sure that all the required environment variables are set as given above. Make sure to zsh.
2. Please ensure that you do all of the initialization steps one after the another. Otherwise, things may not work.

Packages

• auv_autonomy Basic autonomous functions
• auv_bringup Launch files
• auv_description SDF files
• auv_ml Inference Node
• auv_interfaces Interfaces
• auv_sensing Camera Nodes

We are trying X0