/farol

Free Autonomous Robots for Observations and Labelling

Primary LanguageC++MIT LicenseMIT

Farol Base

This repository holds the Farol Base code stack for underwater marine vehicles of DSOR-ISR (Dynamical Systems for Ocean Robotics - Institute for System Robotics). It contains the base of the control and navigation stack found in the DSOR class of marine vehicles(Medusa AUV, BlueRov2, Delfim Catamaran).

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Requirements

This code stack was developed with ROS1 in mind. In order to use, you are required to have:

  • Ubuntu 20.04LTS (64-bit)
  • ROS1 Noetic
  • Python 3

Installation

  • Clone this repository and its submodules to the catkin workspace:
git clone --recursive git@github.com:dsor-isr/farol.git
  • Run the installation script (note: you will require administrator priviledges)
roscd farol/farol_addons/farol_docker/
chmod u+x install_requirements.sh
./install_requirements.sh
rm install_requirements.sh

Using Farol Scripts and Alias

In order to make use of the scripts and alias developed to make the development of code easier, please add the following lines to your ~/.bashrc file. NOTE: replace '/<path_to_workspace>' with the folder where you put you catkin_ws inside. If you put in your home folder, then this variable should be left empty!

# Function to change between different catkin workspaces on the fly - this is not compulsory, but it is a nice addition 🤓

# Create a file to store the latest catkin workspace (if it does not exist) and put in the first line the default name, i.e. catkin_ws
if [ ! -f ~/.catkin_ws_config ]; then touch ~/.catkin_ws_config && echo catkin_ws > ~/.catkin_ws_config ;fi

# Set the variable CATKIN_PACKAGE with the workspace in the catkin_ws_config file
export CATKIN_PACKAGE=$(head -n 1 ~/.catkin_ws_config)

# Function to update the default catkin workspace variable and store the last setting in the file
set_catkin_ws_function() {
    #set CATKIN_PACKAGE according the an input parameter
    export CATKIN_PACKAGE=catkin_ws_$1
    echo CATKIN_PACKAGE = ${CATKIN_PACKAGE}
    
    # save into a hidden file the catkin workspace setting
    echo $CATKIN_PACKAGE > ~/.catkin_ws_config
    source ~/.bashrc
}

# This is required (to source the ROS and farol files)
source /opt/ros/noetic/setup.bash
export CATKIN_ROOT=${HOME}/<path_to_workspace>
export ROS_WORKSPACE=${CATKIN_ROOT}/${CATKIN_PACKAGE}
export FAROL_SCRIPTS=$(find ${ROS_WORKSPACE}/src/ -type d -iname farol_scripts | head -n 1)
source ${FAROL_SCRIPTS}/farol_easy_alias/farol_permanent_alias/alias.sh

Compile the code

  • Compile the code
cd ~/<path_to_workspace>/<catkin_ws>/
catkin build

Citation

If you use Farol in a scientific publication, please cite:

TODO

Documentation

https://dsor-isr.github.io/farol/

Active Developers

Previous Contributors

  • André Potes
  • João Cruz
  • Hung Tuan
  • Shubham Garg
  • Jorge Ribeiro
  • Miguel Ribeiro
  • Henrique Silva
  • João Botelho
  • Filipa Almeida

Omnipresent

  • Prof. António Pascoal
  • Prof. Carlos Silvestre
  • Prof. Rita Cunha
  • Prof. Bruno Guerreiro
  • Prof. Pedro Batista
  • Luís Sebastião
  • Manuel Rufino
  • Pedro Góis
  • Helena Santana

License

Farol is open-sourced under the MIT license. See the LICENSE file for details.