Underwater Robots ROS - Aalborg University

Software Repo for Underwater Robots using Ros

If you havn't installed ROS on your local pc, a guide can found here.

Get Repository

Fork Repository

Share wireless internet through ethernet

Setup wireless internet sharing

Sensors Found in this Repository:

WaterLinked DVL - package: aau_waterlinked_dvl

WaterLinked SBL - package: aau_waterlinked_sbl

MS5837 Pressure Sensor - package: bluerov2_ms5837

SydDynamic TM200 (No documentation yet) - package: bluerov2_tm200

Thruster Setup:

Configure Arduino Board - package: bluerov2_arduino

Configure Thruster Manager - package: bluerov2_thruster

Startup of robot

Robot contains Jetson board runnning Ubuntu

Robot roslaunch

SSH to robot Jetson by:

ssh 192.168.3.10 -l jetson

Using password: jetson

Also useable is SSH: ssh jetson@192.168.3.10

If nano is not the username on the Jetson board, it must be replaced with the actual username!

Run command

roslaunch bluerov2_bringup bluerov2_bringup.launch

Joystick teleop

Open terminal on teleoperation PC (eg. laptop)

Run command

rosrun bluerov2_teleop bluerov2_teleop.sh

This command will set the ROS_IP and ROS_MASTER_URI enviroment variables, which will affect the ability to run local rosmaster and nodes!

Setting up static IP on Topside computer

The topside computer must have a static IP: 192.168.2.50/90

When running the command rosrun bluerov2_teleop bluerov2_teleop.sh, your static IP is auto detected and set.

If you want to access rostopics etc. run

source ~/catkin_ws/Topside.sh

This command will set the ROS_IP and ROS_MASTER_URI enviroment variables, which will affect the ability to run local rosmaster and nodes!

Alias Commands

Often used commands for BlueROV2 is made to aliases, to make them easy to call and remember.

Setup aliases

run

echo 'source ~/catkin_ws/.bash_ros' >> ~/.bashrc

This command only has to be called once, as it will add .bash_ros to .bashrc, which is called on every terminal startup!

Restart terminal or run

source ~/bashrc

Alias List

The Alias list is divided into two categories User and Developer.

User Commands:

Command	Description
launchbluerov2	Robot Roslaunch
launchtopside	Launches Joystick

Developber Commands

Command	Description
rostopside	Set the ROS_IP and ROS_MASTER_URI enviroment variables for communication with the robot
roslocal	Unset the ROS_IP and ROS_MASTER_URI enviroment variables to be able to use local rosmaster
sshbluerov2	SSH into the Jetson on the robot
simjoystick	Launches Link between Joystick and Simulink
getrosbags <DISTINATION/FOLDER/LOCATION>	Get rosbags from the robot using scp to a desired location