Poseidon

Hydrographic surveying platform operating system (ROS Noetic).

Getting started (RPi4, Ubuntu 20.04, ROS Noetic)

• Clone under /opt: sudo chown $USER:$USER /opt && cd /opt && git clone --recursive <repo>
• Install: run install/rpi4-noetic.sh (RPi4 target).
• Build: cd /opt/Poseidon/src/workspace && catkin_make -j1 -DCATKIN_BLACKLIST_PACKAGES="mavros;inertial_sense;velodyne;ins_piksi;velodyne_pointcloud;velodyne_driver;velodyne_laserscan;gnss_mosaic_x5;tf"
• Source: source /opt/ros/noetic/setup.bash then source /opt/Poseidon/src/workspace/devel/setup.bash.
• Launch simulator: roslaunch launch/Simulator/dummy_simulator_virtual-machine.launch, then open the web UI at http://localhost.

Docs

Full documentation lives in doc/ (Markdown):

• doc/README.md: overview, build, run, tests
• doc/install.md: installation with dependencies (RPi4, Ubuntu 20.04, ROS Noetic)
• doc/nodes.md: list of ROS nodes
• doc/web.md: list of web UI pages
• doc/web/*.md: per-page details (index, status, diagnostics, data, map, settings, calibration, goal)
• doc/nodes/*.md: per-node details with inputs/outputs/params

Tests

• C++/Python/ROS: catkin_make run_tests -j1 -DCATKIN_BLACKLIST_PACKAGES="ins_piksi;libmavconn;echoboat_odometry;mavros_msgs;mavros;mavros_extras;test_mavros;gnss_mosaic_x5;imu_bno055;sonar_imagenex852;inertial_sense;raspberrypi_vitals;imu_null;sonar_dummy;gnss_dummy;lidar_filtering"
• JS: cd www/webroot/js && npm test --coverage

Tools

• Rosbag replay: roslaunch launch/Echoboat/rosbag_replay.launch bag_filename:=rosbag.bag
• Lidar georef: ./devel/lib/logger/lidarGeoreferencer -h (supports filtering options)
• Logging modes: 1=Always ON, 2=Manual, 3=Speed based