rov-control

The control system for Vortex NTNU's ROVs. The repository contains several ROS packages.

Launching

• roslaunch vortex maelstrom.launch to start the system for the Maelstrom ROV.
• roslaunch vortex terrapin.launch to start the system for the Terrapin ROV.
• rosrun rqt_reconfigure rqt_reconfigure to open the dynamic reconfigure GUI window.

Testing/linting

Tests run automatically on a Travis server. Run tests manually with catkin_make run_tests, and check test results with catkin_test_results. Linting is done automatically when running tests, but you can also lint manually with catkin_make roslint.

Dependencies

Eigen

The Eigen C++ library

sudo apt install libeigen3-dev

Eigen conversions ROS package

The eigen_conversions ROS package

sudo apt install ros-kinetic-eigen-conversions

Gtest

The gtest package in the Ubuntu repository is not precompiled, so it needs to be built and put in place.

sudo apt install libgtest-dev
cd /usr/src/gtest
sudo cmake .
sudo make
sudo cp libg* /usr/lib/

roslint

roslint is used for linting of the ROS C++/Python code.

sudo apt install ros-kinetic-roslint

Preferred workflow

• Create a feature branch out of master for each new feature, solved issue, significant refactor, etc.
• Open a pull request to have your branch merged back into master.