rakeshv24/bluerov2_dock

bluerov2_dock

This package was developed to control a BlueROV2 to perform autonomous underwater docking. This package utilizes Model Predictive Control (MPC) to achieve optimal control of the vehicle.

This repository is a modified version of the bluerov_ros_playground repo authored by patrickelectric.

Getting Started

Requirements

• Python 3.6 or newer
  • Numpy
  • OpenCV
  • PyYAML
  • Gi & Gobject
  • CasADi
  • acados
  • Pandas
• ROS
  • kinetic or newer
• Geographlib
• imutils
• MAVROS

Installation

Installing ROS: Ubuntu 20.04 (See ROS wiki for other OS)

1. Set up sources.list
   • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
2. Set up keys
   • sudo apt install curl
   • curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
3. Installation
   • sudo apt update
   • Pick how much ROS you want to install: must be either Desktop or Desktop-Full
     • ROS Desktop (includes rqt and rviz)
       • sudo apt install ros-noetic-desktop
     • Desktop-Full (includes Desktop and 2D/3D simulators)
       • sudo apt install ros-noetic-desktop-full
4. Set up environment
   • You must source this script in every bash terminal you use ROS in
     • source /opt/ros/noetic/setup.bash
   • To automatically source this script every time a new shell is launched, run
     • echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
     • source ~/.bashrc
   • Check that source /opt/ros/noetic/setup.bash has been added to the end of .bashrc
5. Install dependencies for building packages
   • sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
6. Initialize rosdep
   • sudo apt install python3-rosdep
   • sudo rosdep init
   • rosdep update

Building a Catkin Workspace

1. Create and build workspace
   • mkdir -p ~/catkin_ws/src
   • cd ~/catkin_ws/
   • catkin_make
   • This will create a workspace with 'build', 'devel', and 'src' folders and a CMakeLists.txt in 'src'
2. Source
   • source devel/setup.bash
   • To automatically source this script every time a new shell is launched, run
     • echo "source /home/<username>/catkin_ws/devel/setup.bash" >> ~/.bashrc
     • source ~/.bashrc
     • Check that source /home/< username>/catkin_ws/devel/setup.bash has been added to the end of .bashrc
3. Make sure the ROS_PACKAGE_PATH includes the directory
   • echo $ROS_PACKAGE_PATH /home/youruser/catkin_ws/src:/opt/ros/noetic/share

Installing CasADi

pip install casadi

Installing acados

Please follow the instructions provided in the following two links:

• Source Installation
• Python Interface

Installing MAVROS

sudo apt-get install ros-noetic-mavros ros-noetic-mavros-extras

Installing Geographlib

sudo /opt/ros/noetic/lib/mavros/install_geographiclib_datasets.sh

Installing imutils

pip install imutils

Installing Pandas

pip install pandas

Installing OpenCV

1. Make sure python-opencv is not installed
   • pip uninstall opencv-python
2. Install opencv-contrib-python
   • pip install opencv-contrib-python

Cloning Project

1. Go to your ROS package source directory:
   • cd catkin_ws/src
2. Clone this project
   • git clone https://github.com/rakeshv24/bluerov2_dock
3. Go back to your workspace:
   • cd ../
4. Build and install the project:
   • catkin_make --pkg bluerov2_dock
5. Reload your ROS env.
   • source devel/setup.sh

Usage

• Before proceeding further, make sure that all the steps mentioned in the guide for Software Setup has been followed.
• From a terminal, run roslaunch bluerov2_dock mission_control.launch
  • If the terminal initially outputs Controller error:'joy', move the sticks to clear the error.
  • Press button "A" on the joystick to enable autonomous docking mode.
    • To switch back to manual mode, move either of the sticks in any direction.