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dfl_uuv_system

This is the system setup repo for DFL UUV project.

Note

Everything is running and testing in docker using Nvidai Jetson Orin Nano/NX/AGX

The Jetpack version is 6.1

Keep in mind this is edge computing unit and is aarch64

The main libraries are specified below:

  • ROS2 Humble
  • PCL 1.15
  • GTSAM 4.2a9
  • CUDA 12.6
  • cudnn 9.13
  • torch 2.8.0
  • tensorflow 2.16
  • torch vision 0.23.0
  • opencv 4.11.0

Build Docker Image

cd ~
git clone https://github.com/dfl-rlab/dfl_uuv_system.git
cd ~/dfl_uuv_system/docker_file
./build.bash

Create a Container using the Image

cd ~/dfl_uuv_system/docker_file
./run_x64_gpu.bash

Sensor Payload - ROS2 topics

All the information from UUV can be acquired from ROS2 interface.