rov-control

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

Building

The easiest way to quickly get started building the project is to use the accompanying Docker container. By running docker run -it -v $(pwd):/catkin_ws/src/ vortexntnu/rov-control:latest /bin/bash, when the current directory is set to the root of this package, you will get a container all set up with ROS and the required dependencies. You can then run the following commands to build and test the package:

source /opt/ros/kinetic/setup.bash
source /catkin_ws/devel/setup.bash
cd /catkin_ws

# Build the packages
catkin_make

# Build the tests
catkin_make tests

# Run the tests
catkin_make run_tests

# Run roslint
catkin_make roslint

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

ROS-bridge-server

Necessary for connecting the Web-based GUI to the ROV

sudo apt install ros-kinetic-rosbridge-server

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.