Tarang: Software Stack

To run this repository:

Create a catkin worspace following the guidelines given here

mkdir -p ~/auv_ws/src
cd ~/auv_ws/src
catkin_init_workspace
cd ..
catkin build

Clone this repository to your catkin workspace

cd ~/auv_ws/src
git clone https://github.com/AUV-IITK/Tarang.git
catkin build

Install all dependency packages to run the repository.Add python-dependencies in requirements.txt

rosdep install --from-paths src --ignore-src --rosdistro=noetic
pip install -r requirements.txt 

You can build and install those packages from their respective sources or you can use the following command in Ubuntu 20.04 to install them. If you are building from source or using a different package manager, make sure you are building the noetic version of these packages to ensure maximum compatibility.

cd ~/catkin_ws
catkin build

Workspace structure

.
├── CMakeLists.txt -> /opt/ros/noetic/share/catkin/cmake/toplevel.cmake
├── Tarang
    ├── controls
    ├── master
    ├── navigation
    ├── utils
    ├── vision
    ├── README.md
    └── requirements.txt

The branch when not doing any development work would be master on Tarang.

Simulation and Control Guidlines

1.First spawn the world by using command.

roslaunch uuv_gazebo_worlds empty_underwater_world.launch

2.Spawn the bot using command

roslaunch triton_description upload.launch

3.Launch controller.launch using command( it starts Ground Truth)

roslaunch triton_control  controller.launch

4.Launch thruster manager using command

roslaunch triton_control start_thruster_manager.launch

5.Launch Odometry using command

roslaunch triton_odometry odom_start.launch

if error comes then try:

whereis python3
sudo ln -s /usr/bin/python3 /usr/bin/python

Contribution Guidelines

To get started with contributing to this repository, look out for open issues here. Kindly read the Developer's Guide before sending a pull request! :)