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‎.pre-commit-config.yaml‎

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"--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D401",
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"--fix",
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]
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stages: [pre-commit]
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stages: [commit]
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pass_filenames: true
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- id: ruff
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name: ruff-check
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"--ignore=T201,N812,B006,S101,S311,S607,S603",
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"--fix"
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]
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stages: [pre-commit]
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stages: [commit]
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pass_filenames: true
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# C++ hooks
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- repo: https://github.com/pre-commit/mirrors-clang-format

‎auv_setup/CMakeLists.txt‎

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@@ -2,10 +2,14 @@ cmake_minimum_required(VERSION 3.8)
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project(auv_setup)
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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ament_python_install_package(${PROJECT_NAME})
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install(DIRECTORY
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config
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launch
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description
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DESTINATION share/${PROJECT_NAME}/
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)
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‎auv_setup/README.md‎

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@@ -13,44 +13,5 @@ The config folder contains physical parameters related to the AUV and the enviro
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This package contains a launchfile for each specific AUV. Additionally the topside.launch file is to
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be used on the topside computer that the joystick is connected to, for ROV operations.
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For the AUV launchfiles, the following parameters can be used:
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| Parameter | Options | Default |
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| ----------|-----------------|-----------|
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| type | real, simulator | simulator |
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#### ROV mode topside launch
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We make no distinction for launching in AUV or ROV mode for the system running on the physical drone.
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You will however need to run the pc.launch file on the topside computer in order to operate the drone
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with a joystick. The topside computer needs to be connected to the same network as the drone. In our configuration, the drone
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is the master node, while the topside computer is the slave. For the slave to know how to connect to the master node,
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you will need to configure the topside computer:
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1. Find the IP of the master. When running the Xavier on the drone, this should be `10.42.0.1`.
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2. On the topside computer, execute
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```
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echo "export ROS_MASTER_URI=http://X.X.X.X:11311" >> ~/.bashrc
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```
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where X.X.X.X is the IP of the Xavier.
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3. Source the newly edited file.
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```
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source ~/.bashrc
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```
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### Sensors
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Currently, the AUV launchfiles also contain the sensor driver launches, including the remapping of them:
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#### Manta sensor mapping
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| Sensor | x | y | z | u | v | w |
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| ---------|-------|--------|--------|---------|---------|---|
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| IMU | 0 | 0 | 0 | 3.12159 | 0 | 0 |
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| DVL |-0.035 |-0.017 |-0.211 | 3.14159 | 3.14159 | 0 |
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| Pressure | 0 | 0 | 0 | 0 | 0 | 0 |
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#### Gladlaks sensor mapping
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| Sensor | x | y | z | u | v | w |
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| ---------|-------|--------|--------|---------|---------|------|
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| IMU | 0 | 0 | 0 | TODO | TODO | TODO |
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| DVL |TODO |TODO |TODO | TODO | TODO | 0 |
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| Pressure | 0 | 0 | 0 | 0 | 0 | 0 |
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### Description
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The description folder contains the URDF and xacro files for the AUVs. The main description launch file is drone_description.launch.py, which makes all static transforms available to the ros graph.

‎auv_setup/auv_setup/__init__.py‎

Whitespace-only changes.

‎auv_setup/auv_setup/launch_arg_common.py‎

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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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def declare_drone_and_namespace_args(default_drone="orca"):
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return [
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DeclareLaunchArgument(
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"drone",
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default_value=default_drone,
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description="Drone model / config name",
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),
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DeclareLaunchArgument(
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"namespace",
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default_value="",
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description="ROS namespace. If empty, uses drone name.",
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),
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]
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def resolve_drone_and_namespace(context):
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drone = LaunchConfiguration("drone").perform(context)
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namespace = LaunchConfiguration("namespace").perform(context)
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if namespace == "":
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namespace = drone
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return drone, namespace

‎auv_setup/config/robots/moby.yaml‎

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# This file defines parameters specific to Moby.
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# When looking at the AUV from above, the thruster placement is:
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#
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# front
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# |======|
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# |=7↗=| |=0↖=|
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# | | | |
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# | 6• | | 1• |
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# | | | |
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# | | | |
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# | 5• | | 2• |
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# | | | |
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# |=4↘=|==||==|=3↙=|
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#
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/**:
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ros__parameters:
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physical:
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center_of_mass: [0.0, 0.0, 0.0] # CO is aligned with CM Position (x,y,z) in meters (M)
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mass_matrix: [53.7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 53.7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 53.7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 11.0628, 1.086, -3.17502, 0.0, 0.0, 0.0, 1.086, 23.1128, 0.1025, 0.0, 0.0, 0.0, -3.17502, 0.1025, 26.23998]
21+
# 6x6 mass_inertia_matrix
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propulsion:
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dofs:
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num: 6
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dimensions:
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num: 3
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thrusters:
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num: 8
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min: -100
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max: 100
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thruster_force_direction: [ # Direction of forces X,Y,Z, same logic as thruster_position thruster0 produces thrust in (X0,Y0,Z0) and ||(X0,Y0,Z0)|| = 1
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0.70711,
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0.00000,
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0.00000,
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-0.70711,
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-0.70711,
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0.00000,
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0.00000,
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0.70711, # Surge
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-0.70711,
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0.00000,
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0.00000,
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-0.70711,
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0.70711,
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0.00000,
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0.00000,
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0.70711, # Sway
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0.00000,
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1.00000,
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1.00000,
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0.00000,
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0.00000,
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1.00000,
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1.00000,
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0.00000, # Heave
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]
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thruster_position: [ # Position (x0,x1 ... x7,y1,y2, ...,y7,z1,z2, ... ,z7) in meters (M). i.e thruster0 has position (x0,y0,z0)
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0.413892,
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0.140095,
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-0.163904,
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-0.413892,
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-0.413892,
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-0.163904,
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0.140095,
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0.413892, # x-positions of the thrusters
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-0.313022,
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-0.313022,
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-0.313022,
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-0.313022,
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0.313022,
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0.313022,
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0.313022,
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0.313022, # y-positions of the thrusters
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0.021736,
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0.021736,
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0.021736,
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0.021736,
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0.021736,
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0.021736,
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0.021736,
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0.021736, # z-positions of the thrusters
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]
83+
rate_of_change:
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max: 1 # Maximum rate of change in newton per second for a thruster
85+
86+
thrust_update_rate: 100.0 # [Hz]
87+
watchdog_timeout: 1.0 # [s]
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topics:
90+
wrench_input: "wrench_input"
91+
thruster_forces: "thruster_forces"
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pwm_output: "pwm"
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current: "power_sense_module/current"
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voltage: "power_sense_module/voltage"
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pressure: "pressure"
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temperature: "temperature"
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joy: "joy"
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pose: "pose"
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odom: "odom"
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twist: "twist"
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operation_mode: "operation_mode"
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killswitch: "killswitch"
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reference_pose: "reference_pose"
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guidance:
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los: "guidance/los"
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dp: "guidance/dp"
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waypoint: "waypoint"
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dvl_twist: "dvl/twist"
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dvl_altitude: "dvl/altitude"
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imu: "imu/data_raw"
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sonar_info: "fls/sonar_info"
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pressure_sensor: "pressure_sensor"
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action_servers:
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reference_filter: "reference_filter"
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los: "los_guidance"
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services:
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set_operation_mode: "set_operation_mode"
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set_killswitch: "set_killswitch"
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toggle_killswitch: "toggle_killswitch"
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get_operation_mode: "get_operation_mode"

‎auv_setup/config/robots/orca.yaml‎

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joy: "joy"
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pose: "pose"
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twist: "twist"
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odom: "odom"
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operation_mode: "operation_mode"
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killswitch: "killswitch"
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reference_pose: "reference_pose"
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landmarks: "landmarks"
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waypoint: "waypoint"
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waypoint_list: "waypoint_list"
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guidance:
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los: "guidance/los"
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dp: "guidance/dp"
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fsm:
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active_controller: "fsm/active_controller"
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dvl_twist: "dvl/twist"
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dvl_altitude: "dvl/altitude"
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imu: "imu/data_raw"
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pressure_sensor: "pressure_sensor"
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action_servers:
136141
reference_filter: "reference_filter"
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los: "los_guidance"
143+
landmark_polling: "landmark_polling"
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landmark_convergence: "landmark_convergence"
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waypoint_manager: "waypoint_manager"
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139147
services:
140148
set_operation_mode: "set_operation_mode"
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set_killswitch: "set_killswitch"
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toggle_killswitch: "toggle_killswitch"
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get_operation_mode: "get_operation_mode"
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waypoint_addition: "waypoint_addition"
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fsm:
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docking:

‎auv_setup/description/flir_blackfly_s.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="flir_blackfly_s">
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<!--
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Minimal helper xacro that only defines the link frames and fixed joints
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for the FLIR Blackfly S camera. This intentionally omits visuals,
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collisions, inertial and Gazebo sensor/plugin blocks so it can be
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included in robot descriptions when only TF frames are required.
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The caller is responsible for declaring ${frame} as a <link> and
11+
connecting it to the parent with a <joint> (+ the desired origin).
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This macro only adds the sensor sub-frames below ${frame}.
13+
14+
Usage:
15+
<xacro:include filename="flir_blackfly_s.urdf.xacro"/>
16+
17+
<link name="downwards_camera_link"/>
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<joint name="base_to_downwards_camera" type="fixed">
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<parent link="base_link"/>
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<child link="downwards_camera_link"/>
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<origin xyz="0.28 -0.08 0.09" rpy="0 0 1.5708"/>
22+
</joint>
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24+
<xacro:flir_blackfly_s frame="downwards_camera_link" name="flir_blackfly"/>
25+
-->
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<xacro:macro name="flir_blackfly_s" params="frame base name:=camera lens_h:=0.04">
28+
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<!-- 'base' must be provided by the caller and should be the desired
30+
prefix for generated sub-frame names (e.g. 'downwards_camera'). -->
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<!-- Lens and optical links (minimal) -->
33+
<link name="${base}_lens"/>
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<link name="${base}_optical"/>
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<!-- Fixed joint from body to lens (keeps original relative origin) -->
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<joint name="${base}_lens_joint" type="fixed">
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<!-- origin taken from flir_blackfly_s xacro: 0.02685 0 0.01425 -->
39+
<origin xyz="0.02685 0 0.01425" rpy="0 0 0"/>
40+
<parent link="${frame}"/>
41+
<child link="${base}_lens"/>
42+
</joint>
43+
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<!-- Fixed joint from lens to optical frame. Lens length is parameterized. -->
45+
<joint name="${base}_optical_joint" type="fixed">
46+
<origin xyz="${lens_h} 0 0" rpy="-1.570796 0 -1.570796"/>
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<parent link="${base}_lens"/>
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<child link="${base}_optical"/>
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</joint>
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</xacro:macro>
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</robot>

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