BathyBoatNav

Hydro/Rob Project - Guerlédan 2017/2018 - Navigation part
This project aims at providing a web-based monitoring and planning UI for robots.
This part contains all the ROS packages used for the communication between the robot and the web-server and the ones used for the control.

Installation

The packages use the version Kinetic-Kame of the ROS middleware.
ROS can be installed via apt for Ubuntu and Debian based distributions.

Once ROS is installed and the repository cloned, open a terminal in the cloned directory and install the ROS packages:

catkin_make install

You should now be ready to go:
First start the WebApp to create a mission (see how here)
Then launch the mission interpreter file which parses the mission given by the WebApp:

roslaunch /launch/mission_interpreter.launch

Next in another terminal launch the helios file for an evironment with all the nodes for the control, navigation and sounders:

roslaunch /launch/helios.launch

The robot is now ready to start the mission, use the WebApp to send the start command.

If you want to start a simulation instead of a real mission, after launching the mission interpreter launch the following file:

roslaunch /launch/simu_helios.launch

Configuration

Coming soon.

ROS Nodes

There are several nodes which perform different tasks:

• mission_interpreter which parses the JSON mission file created by the user in the WebApp and converts the gps positions in Lambert. It sends the next point the robot has to reach when called by the node regul_helios
• gps_converter which converts the gps positions from latitude/longitude to Lambert and inversely
• tcp_server_send which sends data from the robot to the WebApp (positions, motors thrust, batteries level ...)
• tcp_server_recv which receives the commands from the WebApp (start, stop ...)
• regul_helios which do the regulation of the robot based on a PID and sends the commands to the pololu node
• pololu which sends commands converted in PWM to the motors
• simu_helios which simulates the evolution of the robot in time and space in function of the commands
• fsm which is in charge of the state machine of the robot