muddsub / hydrophones

MuddSub

The code for MuddSub's Alfie AUV

Installation

Prerequisites

This all needs to be in Ubuntu, preferably 20.04. Other linux distributions can in theory be used, but not all packages are guaranteed to be supported. For example, in Arch linux, everything except simulation is supported. These instructions are all written for Ubuntu. If you want to use a different distribution, you'll have to figure out how to install the packages in the distro.

Start by following these instructions to install ros noetic.

You'll also need to install a few dependencies to get everything working:

sudo apt-get install python3-dev
sudo apt-get install python3-catkin-tools
sudo apt-get install ros-noetic-tf
sudo apt-get install ros-noetic-urdf
sudo apt-get install libeigen3-dev
sudo apt-get install ros-noetic-tf2-geometry-msgs
sudo apt-get install ros-noetic-vision-msgs
sudo apt-get install doxygen
pip install doxypypy

The first is a dependency for a library we use for controls. The second gives an alternate build tool to the one which comes standard with ROS. We build with catkin build instead of catkin_make because it allows standard CMake projects to be compiled within our workspace. The last two are used to generate documentation.

Download and Build

You'll need a catkin workspace, which can be created by opening a terminal and running

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin build

Enter the directory and clone this repository:

cd ~/catkin_ws/src
git clone https://github.com/MuddSub/MuddSub.git --recurse-submodules -j8

With that said, this is a good opportunity to build!

catkin build muddsub_sim

This may take a few minutes! Note: If you didn't install ros-melodic-uwsim, you can still build, but with catkin build muddsub_primary instead. This builds everything but the simulator.