What is Robdos?

Robdos Team, an underwater robotics association, came up in 2014 from our concern as a group of students specialized in different fields about putting into practice all the skills and knowledge gathered during our university period. Marine, Industrail and Computer Engineering students from the Technical University of Madrid (Universidad Politecnica de Madrid), work hard on the development of an autonomous underwater platform.

Our main goal in the Association is to manufacture and develop an autonomous vehicle in order to attend international competitions, which are becoming more and more frequent over the years. Such events allow different universities and private teams show the progress made in their platforms throughout the years, and thus YUooperating with technological development in underwater robotics.

Install ROS and dependencies

Follow ros installation procedure:

we can summarize the steps:

Open a command windows on ubuntu and run the following commands:

  • Prepare ubuntu for installation:
sudo sh -c 'echo "deb $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp:// --recv-key 0xB01FA116
sudo apt-get update
  • Install ROS

For PC/Laptop we should install full desktop version:

sudo apt-get install ros-kinetic-desktop-full

For Raspberry PI 2 and Odroid we can install ROS-Base:

sudo apt-get install ros-kinetic-ros-base

Install rosdep:

sudo rosdep init
rosdep update

And finally prepare environment:

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Compile project

First we need to install some dependencies and ROS packages:

sudo apt-get install libqwt-dev ros-kinetic-teleop-twist-joy  ros-kinetic-rviz-imu-plugin python-smbus ros-kinetic-rqt-multiplot ros-kinetic-mavros*

Finally we create a workspace for project, clone github repository, install dependencies and compile it:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone -b kinetic
cd ..
source devel/setup.bash
rosdep install robdos_sim

Test the project

Once the project has been compiled successfully, we have two different alternatives. can run a simulation that includes robot using a simple scenario.

cd ~/catkin_ws
source devel/setup.bash
roslaunch robdos_sim robdos_sim.launch

Launch the project

Once we have compiled and tested the project, we can launch the project in our computer or in the robot.

The first thing we must do is to connect a PS3 Sixaxis to out computer.

Then, if we want to launch it in our computer:

cd ~/catkin_ws
source devel/setup.bash
rosparam set joy_node/dev "/dev/input/js1"
rosrun joy joy_node
roslaunch robdos_sim robdos_state_machine.launch

On the other hand, if you want to control the robot, the first thing we must do is to connect our computer and the NUC that is on the AUV to the same network.

Secondly, we have to add the next lines into the file ~/.bashrc:

export ROS_IP=

Then, we must follow the next commands:

#Our computer
ssh robdosteam@
#Contraseña: ***********

#NUC computer
cd ~/robdos_ws
source devel_isolated/setup.bash
roslaunch robdos_state_machine on_board_architecture.launch

#Our computer
robdos_state_machine ground_architecture.launch

#It is not necessary to do the next commands but it allows us to change some PixHawk values
rosservice call /mavros/set_stream_rate 0 10 1
rosservice call /mavros/cmd/arming 1

It is important to do the above steps in the order mentioned.