interface_rs485

This module is S.O.N.I.A's comunication interface for RS485 based on ROS

Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.

Clone current project by using following command :

    git clone git@github.com:sonia-auv/interface_rs485.git

Prerequisites

First and foremost to run the module you will need to have docker installed.

To validate your installation of docker, simply type in

docker -v

If you receive an output in the likes of :

Docker version 20.10.14, build a224086

It means you have it installed. If not follow instructions on how to install it for your OS.

Installing

A step by step series of examples that tell you how to get a development env running

Give the example

And repeat

until finished

End with an example of getting some data out of the system or using it for a little demo

Deployment

Run on AUVs

In compose :

interface_rs485:
    image: ghcr.io/sonia-auv/interface_rs485/interface_rs485:x86-perception-feature-simulation
    container_name: interface_rs485
    environment:
      - ROS_IP=${ADRESS_IP}
      - ROS_MASTER_URI=http://${ADRESS_IP}:11311
      - AUV=${AUV}
    network_mode: host
    privileged: true
    volumes:
     - /dev/RS485:/dev/RS485
    depends_on:
     - ros-master

Local

Build the docker image :

docker build -t interface_rs485:latest .

Run the docker image :

docker run -it interface_rs485:latest

OR

Compose with dev board :

interface_rs485:
    image: ghcr.io/sonia-auv/interface_rs485/interface_rs485:x86-perception-feature-simulation
    container_name: interface_rs485
    environment:
      - ROS_IP=${ADRESS_IP}
      - ROS_MASTER_URI=http://${ADRESS_IP}:11311
      - AUV=${AUV}
    network_mode: host
    privileged: true
    volumes:
     - /dev/ttyUSB0:/dev/ttyUSB0
    depends_on:
     - ros-master

OR

Compose with simulation :

interface_rs485:
    image: ghcr.io/sonia-auv/interface_rs485/interface_rs485:x86-perception-feature-simulation
    container_name: interface_rs485
    environment:
      - ROS_IP=${ADRESS_IP}
      - ROS_MASTER_URI=http://${ADRESS_IP}:11311
      - AUV=${AUV}
    network_mode: host
    privileged: true
    depends_on:
     - ros-master
    command:
      - roslaunch
      - --wait
      - interface_rs485
      - interface_rs485_sim.launch

You can choose the sub by using AUV=${LOCAL_AUV} and indicating the AUV you want to simulate in LOCAL_AUV in launch_local.sh.

Built With

Add additional project dependencies

• ROS - ROS perceptionic framework

Versioning

We use SemVer for versioning. For the versions available, see the tags on this repository.

License

This project is licensed under the GNU License - see the LICENSE file for details