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Usage.md

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EVA ROV - Operating Instructions

Startup Procedure

  1. Connect Hardware

    • Connect EVA to power supply
    • Connect EVA to PC using ethernet cable (can be direct connection or through switch/router)
    • Wait approximately 10 seconds for system initialization

  2. Network Configuration

    • With Router: If router is configured correctly with static IPs, it can automatically assign them
    • Direct Connection/Switch: Raspberry Pi and control station must be in same subnet
    • Default IP Addresses:
      • Control Station: 10.0.0.192
      • Raspberry Pi: 10.0.0.254
    • Check these IP settings if connection issues occur

  3. Launch Control Software

    Option A: Using Scripts (Recommended)

    • Scripts are located in scripts/control_station
    • ATTENTION: Update paths in scripts depending on repository location (default: Documents/GitHub/repos)
    • Individual scripts: 
      # NEXUS (GUI)
./scripts/control_station/nexus_script.sh

# Janus (camera streaming - required for NEXUS)
./scripts/control_station/janus_script.sh

# Oceanix Helper (debugging and parameter changes)
./scripts/control_station/oceanix_helper_script.sh

# Start all three together
./scripts/control_station/start_all.sh

    Run using the right-click -> Run as a program.

    Option B: Manual Commands

    • Open a new terminal window
    • Start NEXUS (primary control interface) 
      cd NEXUS
source venv/bin/activate
make test
    • Start Oceanix_helper (in a separate terminal) 
      cd Oceanix/helper
source venv/bin/activate
python main_helper.py

  4. Arm the ROV and begin operation

Troubleshooting Guide

If you encounter issues:

  1. Connection Loss from NEXUS or Helper

    • If connection is lost, first close and reopen NEXUS and the helper when connection is restored
    • You may encounter bugs when MQTT connection is lost - restart the application to resolve

  2. Connect to onboard computer

    ssh politocean@10.0.0.254

  3. Verify Oceanix status

    sudo systemctl status Oceanix

  4. Restart Oceanix service if needed

    sudo systemctl restart Oceanix

  5. Check error logs

    cd firmware/Oceanix/log
cat "last_created_file"

Oceanix_helper Guide

Connection Setup

  • Click "CONNECT" button

Main Features

  • State Viewer Tab: Monitor sensors and motors in real-time
  • Commands Tab:
    • ARM_ROV (required first step)
    • Test motors with predefined commands
    • Use sliders to adjust direction values
    • Click "Send Custom Axes" to apply changes
    • Enable/disable automatic depth, roll, and pitch control

Advanced Settings

  • Config Tab: Load, modify and update Oceanix configuration
  • Log Tab: View real-time console output