This repo contains micro-ROS dev environments and bash scripts used by the BYU FRoSt lab's Cooperative Underwater Group of Autonomous Robots (CoUGARs). If you're doing code development, feel free to clone this repo directly, make a new branch, and start coding and pushing some changes. Otherwise (if you're looking to set up a new Coug-UV from scratch), see this repo for instructions on how to get our custom Docker image running instead: https://github.com/BYU-FRoSt-Lab/CoUGARs

A quick high-level overview of the repo:

• cougars/ - PlatformIO dev environment for the Teensy. Source code and header files are included in "cougars/src/" and "cougars/include/", and dependencies can be imported by modifying the "cougars/platformio.ini" file. Different sensors and actuators can be enabled/disabled by commenting out the #define statements at the top of "cougars/src/main.cpp" and rebuilding.
• firmware_options/ - pre-compiled firmware hex files that can be uploaded to the vehicles. Custom hex files added to this directory can be uploaded to the Teensy boards using the "upload.sh" script.
• microros_tools/ - helpful scripts for launching the microROS agent ("agent.sh"), syncing custom message changes ("msg_sync.sh"), and testing Teensy board connections ("test.sh"). TODO: Add a more helpful description here in the future.
• scripts A description of what each bash script does is included as a header comment in the file.