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Software of the SeadragonAUV for the 2019 RoboSub competition and testbed for the new AUVs.

CMake 1.96% Python 96.13% Shell 0.31% C++ 1.60%

auv ros robosub robot python

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kride001 edcarrasco hulbertzeng s-cabrera

seadragonauv's Issues

joystick device isnt always js0

SeadragonAUV/laptop_joystick.sh

Lines 2 to 3 in 97980c3

 sudo chmod a+rw /dev/input/js0 

 rosparam set joy_node/dev "/dev/input/js0"

Suggestion: Make a function that takes a parameter so that the user can input their own js#. Assuming they know which js# is the joystick

remove redundant file

https://github.com/robosub-ucr/SeadragonAUV/blob/master/Mission%20Control/gui/src/joystickController.py

This is a copy of the original file in the manual_control folder

change indentation to 4 spaces

https://github.com/robosub-ucr/SeadragonAUV/blob/joy_input/Mission%20Control/manual_control/joystickController.py

Break down this state into smaller states

SeadragonAUV/Mission Control/competition_tasks/src/bouyTask.py

Lines 41 to 50 in 97980c3

 class TrackObjectState(smach.State): 

 def __init__(self, obj_topic, yoffset): 

 smach.State.__init__(self, outcomes=['done', 'notdone', 'reset']) 

 self.yoffset = yoffset 

 self.timer = 0 

 self.object_x = 0 # in pixels 

 self.object_y = 0 # in pixels 

 self.object_area = 0 # object width * height

reduce max yaw thrust to 120 instead 150

SeadragonAUV/Mission Control/manual_control/joystickController.py

Line 194 in 97980c3

 value *= 150 # scale from [0,1] to [0,150], so thrust scales from 0 to our desired max 

vision.py needs more comments

SeadragonAUV/Mission Control/computer_vision/src/vision.py

Line 20 in 97980c3

cap = cv2.VideoCapture(2)

update imu_callback

publish X and Z, in addition to Y. Each to a different topic

GUI must display yaw setpoint

https://github.com/robosub-ucr/SeadragonAUV/blob/master/Mission%20Control/gui/src/sensor_gui.py
The sensor_gui.py compass currently only shows the yaw state.

[ME] draw the CADs for the new AUV

Redundant file, already exists in root folder

SeadragonAUV/Mission Control/manual_control/laptop_init.sh

Lines 1 to 4 in 97980c3

 export ROS_MASTER_URI=http://seadragon:11311 

 sudo chmod a+rw /dev/input/js0 

 rosparam set joy_node/dev "/dev/input/js0" 

 rosrun joy joy_node

self.buttons and self.axes can be used in callback before being initialized

SeadragonAUV/Mission Control/manual_control/joystickController.py

Lines 39 to 40 in 97980c3

 self.buttons = [False for i in range(11)] 

 self.axes = [0 for i in range(8)]

implement system for controlling the joystick LEDs

https://github.com/robosub-ucr/SeadragonAUV/blob/master/Mission%20Control/manual_control/joystickController.py

[EE] thruster PCB for seadragon must be redesigned

redesign old thruster PDB, this includes implementing new design improvements, such as short circuit protection
this need to be done relatively quickly to allow software to resume testing, need to order parts to assemble pcb

manual_control directory needs CMakeList.txt and package.xml

Create the necessary files

	sudo chmod a+rw /dev/input/js0
	rosparam set joy_node/dev "/dev/input/js0"

	class TrackObjectState(smach.State):
	def __init__(self, obj_topic, yoffset):
	smach.State.__init__(self, outcomes=['done', 'notdone', 'reset'])

	self.yoffset = yoffset
	self.timer = 0

	self.object_x = 0 # in pixels
	self.object_y = 0 # in pixels
	self.object_area = 0 # object width * height

	export ROS_MASTER_URI=http://seadragon:11311
	sudo chmod a+rw /dev/input/js0
	rosparam set joy_node/dev "/dev/input/js0"
	rosrun joy joy_node

	self.buttons = [False for i in range(11)]
	self.axes = [0 for i in range(8)]

robosub-ucr / seadragonauv Goto Github PK

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