bathydrone

Code for the bathydrone project, the collaboration between Dr. Ifju and Dr. Shin's lab at the University of Florida

Setup and Installation (Ubuntu 20.04):

Clone the repo:

$ git clone https://github.com/andrespulido8/bathydrone.git

Once you have cloned and entered this directory in the repo, it is recommended to create a virtual environment using venv:

1. Install Python and venv

• Get python and virtual environment

$ sudo apt install python3.9
$ sudo apt install python3.9-venv

(For GUI: Verified on version 3.9. FastSAM relies on 3.7 or later; see https://github.com/CASIA-IVA-Lab/FastSAM#installation for more information.)

• (Optional): Add an alias for that specific Python version to your .bashrc:

alias python3.9='/usr/bin/python3.9'

2. Create a virtual environment

• Make sure you use the Python version you just installed when creating the virtualenv!

$ mkdir .venv && cd .venv
$ python3.9 -m venv bathy-env # replace 'bathy-env' throughout with name of your choosing
$ source bathy-env/bin/activate
$ cd .. # back to the root directory of the repo

• Verify that the environment is activated before continuing! Your terminal should look like:

(bathy-env) user@user-host-machine:path/to/installation$
# e.g.,
(bathy-env) blake@blake-laptop-ubu:~/Documents/GitHub/SAM_Testing$

• You can also confirm the version of Python (and corresponding version of pip):

$ python --version
Python 3.9.5
$ pip --version
pip 20.0.2 from /home/blake/Documents/bathydrone/.venv/bathy-env/lib/python3.9/site-packages/pip (python 3.9)

3. Install required packages

• For GUI: First install PyTorch and TorchVision here. If you have an NVIDIA GPU, it is highly recommended to install the CUDA versions. Example below:

$ pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118

• For GUI: Install requirements from the file included in the repo:

$ cd path_planning_ui/
$ pip install wheel
$ pip install -r requirements.txt

• If you want to run the generate a path, you may need to also install the path planner dependencies

$ cd gnc/
$ pip install -r requirements.txt

• Install CLIP:

$ pip install git+https://github.com/openai/CLIP.git

4. Deactivate the virtual environment

To deactivate the virtual environment, simply run:

$ deactivate

Contributing Guide

To make changes to this repo, it is recommended to use the tool pre-commit. To install it, run pip3 install -r requirements.txt inside this repo, and then install the hooks specified in the config file by doing pre-commit install. Now to run it ag ainst all the files to check if it worked, run pre-commit run --all-files.

NOTE FOR ROS

Force is being applied to the wamv/base_link Force is magnitude of 1000000.0 N in the x direction to show noticeable movement in boat.