Thresher AUV

URI Hydrobotics

Quickstart (Dev)

Note: The dev container is minimum of ~5.5 Gbs of storage utilization.

The dev container is built using a larger ROS framework (ROS Humble Desktop), providing some additional simulation and front-end packages you wouldn't necessarily need on the Thresher AUV.

1. Install Docker

2. Clone this repository:

   git clone https://github.com/URI-Hydrobotics-Team/Thresher.git
   cd Thresher

   • !!Windows Users!! You may need to isntall GNU Make to use the Makefile

     1. Install GNU Make

        winget install GnuWin32.Make

     2. Add to your PATH

        1. Open Start Menu --> Edit system environment variables
        2. System Properties --> Environment Varialbes
        3. Under system (or user) variables select PATH --> Edit
        4. Paste the path to where the make.exe file is located (usually C:\Program Files (x86)\GnuWin32\bin)
        5. Test by openeing a new terminal and running make --version

3. Build the dev container:

   make build-dev

4. Run the container:

   make run-dev

5. Build your ROS workspace:

   cd ~/auv_ws
   colcon build
   source install/setup.bash
   ros2 launch <package_name> <launch_file>

Quickstart Runtime

On AUV computer

1. Run the installation bash script (it should only work on Ubuntu version 22.04)

   ./scripts/install_runtime.sh

2. Build the ROS workspace

   cd ~/auv_ws
   colcon build
   source install/setup.bash
   ros2 launch <package_name> <launch_file>