AUV Max: Plataform for Submarine AUV

Introduction

This project focuses on the development of a submersible UAV, using advanced technologies in robotics, automatic control and computer vision. Developed with ROS2 Humble, Gazebo Garden 7 and Rviz2, this project represents a pioneering effort in the simulation and operation of underwater autonomous vehicles.

Project Structure

The project is divided into several packages, each focused on a specific functionality:

Package	Description
`auv_max`	Packages necessary for the correct functioning of the project
`auv_max_bringup`	Launch files for the launch of Gazebo, Rviz and future physical implementations
`auv_max_control_pos`	Position control using a PID to control linear X-Z and angular position Yaw-Pitch
`auv_max_description`	URDF Files and Display Settings for Rviz
`auv_max_gazebo`	AUV model and world for simulation in Gazebo
`auv_max_graphics`	Graphic modules and visualizations for the AUV
`auv_max_node`	Main node in charge of communication between Gazebo-Rviz-ROS
`auv_max_sonar`	Algorithm commissioned to recognize obstacles underwater
`auv_max_teleoperation`	Algorithm for AUV teleoperation through the use of the keyboard
`auv_max_vision_opencv`	Computer vision implementation using OpenCV

Requirements

ROS2 Humble
Rviz2 (Installed directly with ROS2 Humble)
Gazebo Garden 7
OpenCV

Installation and configuration

Follow these steps to install and configure the project:

Installing dependencies

Install ROS 2 Humble (Documentation: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html)
Install Gazebo Garden 7 (Documentation: https://gazebosim.org/docs/garden/install_ubuntu)
Install OpenCV (Documentation: https://docs.opencv.org/4.x/d7/d9f/tutorial_linux_install.html)

Install additional dependencies

sudo apt-get install ros-humble-xacro
sudo apt-get install libncurses5-dev libncursesw5-dev
sudo apt-get install ros-humble-ros-gzgarden*

Install the project

Create a workspace:

mkdir ~/ros2_ws && cd ~/ros2_ws && mkdir src

Clone the repository:

cd src
git clone https://github.com/iesusdavila/auv_max

Navigate to the project directory and run:
```
colcon build
```

Set up the ROS environment:

source /opt/ros/humble/setup.bash
source install/setup.bash

Use

Execute commands so that Gazebo recognizes plugin and model: https://github.com/RAMEL-ESPOL/auv_max/blob/main/initial_run.bash
To launch the simulation in Gazebo: ros2 launch auv_max_bringup max_sim.launch.py
To activate GUI teleoperated control: ros2 run auv_max_teleoperation gui_teleop.py
To activate teleoperated control: ros2 run auv_max_teleoperation auv_teleop_keyboard

Development and Contributions

If you are interested in contributing to this project, consider the following:

Code Style: Follow the ROS2 and PEP8 conventions for Python.
Tests: Ensure that all new code is accompanied by unit tests.
Documentation: All new developments must be properly documented.