Underwater Continuum Robot Source Files

Installation Instructions

• THIS CODE IS FOR ROS MELODIC UBUNTU 18.04 ONLY
• Create new catkin workspace
• Run the following to download source files into catkin workspace: git clone [email protected]:stevens-robotics/src.git
• Go to the top level of workspace and run the following to install required packages: rosdep install --from-paths src --ignore-src -r -y
• Run the following to build package: catkin_make install

Robot Control

Remember to source your catkin workspace for each unique terminal.
Note: motors.launch and sensor.launch correspond to launching a node for the Teensy on port /dev/ttyACM0 and /dev/ttyACM1 respectively. This may not correspond with the actual motor and sensor boards depending on the order in which they were connected.

To run simple text-based trajectory commands:

• roscore
• roslaunch continuum_kin_control motors.launch
• roslaunch continuum_kin_control sensor.launch
• rosrun continuum_kin_control velocity_command.py
• rosrun continuum_kin_control trajectory_input.py

To get IMU visualization:

• roscore
• roslaunch continuum_kin_control sensor.launch
• rosrun continuum_kin_control imu_reader.py (must be in top level of catkin workspace)
• roslaunch continuum_urdf5 display.launch

To run joystick control:

• roscore
• roslaunch continuum_kin_control motors.launch
• roslaunch continuum_kin_control sensor.launch
• rosrun continuum_kin_control velocity_command.py
• rosrun continuum_kin_control trajectory_planner.py
• rosrun joy joy_node

Communicating Remotely via Tether

• The Jetson Nano on the robot should have this package installed.
• Connect Jetson to Fathom-X board in robot via short ethernet cable.
• Connect a TSP cable from the tether to Fathom-X.
• Plug tether into Fathom-X Topside Interface.
• Plug USB of interface into topside computer.
• Set Static IP address to be 192.168.1.XX (anything except .54), and the netmask to 255.255.255.0
• Test connection by running ping 192.168.1.54
• Use SSH to remote log into Jetson via custom IP address. For us, that is ssh [email protected]
• Launch roscore and Teensy nodes on Jetson to prevent excessive latency.
• IMU visualization and joystick nodes can be run on topside computer, but requires exporting ROS IP and URI data:
• export ROS_IP=192.168.1.54
• export ROS_MASTER_URI=http://192.168.1.54:11311/