This is the main working repository for the USV (Unmanned Surface Vehicle) VantTec Platforms. Each directory represents a ROS Package:
- arduino_br: ROS package that uses rosserial_python and rosserial_arduino to interface with the T-100 and the T-200 thrusters.
- rb_missions: ROS package where the algorithms to solve the different RoboBoat challenges are implemented.
- usv_comms: ROS package that allows the USV software to interface with the Digi X-Tend Hardware for communication with the main 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_perception: ROS package for the perception algorithms used in the USV.
- vectornav_ros: ROS package that allows the USV to interface with Vectornav's IMUs.
- velodyne: ROS package for the Velodyne LIDARs.
- zed_ros_wrapper: ROS package for the Stereolabs ZED Camera.
TODO: Dependencies
How to start working?
Enter the following commands into your Ubuntu 16.04 terminal:
cd
git clone http://github.com/vanttec/vanttec_usv.git
cd vanttec_usv
./init_worskpace.sh