5.2 How to Run the Robot

💡 BEFORE YOU START:

• Make sure all electrical connections are complete.
• Test with a battery.
• Put the DVL in water.

1. Connect the tether and select the AUV Network on your laptop.
   

2. Open terminal and connect via SSH. ssh jetson@ubuntu.local. If there is a “someone is trying to hack” error or such, type and enter ssh-keygen -R ubuntu.local.
   

3. Enter AUV-2026 folder cd AUV-2026.
   

💡 If you're just monitoring and docker is already launched, skip steps 4-6 and the branch part in step 7

4. Make sure you are in the correct branch. Use git branch. It should be the upcoming pooltest branch. Use git checkout <branch> or git switch <branch>

5. cd into Docker and then into jetson

6. Compose docker docker compose up -d then docker exec -it jetson…(press tab) bash

7. Make sure you’re on tmux. If you’re not, just type tmux It should already be okay. But check your branch to make sure it’s the same out as outside the container.

💡 If you're just monitoring and docker is already launched, skip steps 8-11

8. Before running, type ros2. If there is no ros2 commands showing up. If not, in the AUV-2026 directory, there should be a setup.sh file that you can run.

9. Make sure power board teensy is connected with the digital isolator and type ros2 launch propulsion propulsion.launch. A lot of green shit should pop up. Like 9999.

10. Open a new tmux window and type ros2 run propulsion drytest.py and then dry test is there! Make sure the thruster KS is in.

11. To launch sensors, ros2 launch sensors sensors.launch and follow the similar steps.

12. If you want to echo data, list your ros2 topics with ros2 topic list and then echoing with ros2 <topic> echo.

13. Die