Project MIRA

This repository contains the ROS packages for the AUV2024 Dreadnought Autonomous Underwater Vehicle (AUV) project. The project aims to develop a robust and capable AUV for various underwater missions.

Overview

• Docker:

• Contains a custom docker image file for running the entire system on Docker container

• src:

• mira_controller: This package handles the control and navigation systems of the AUV.

• mira_perception: This package handles image processing and perception algorithms.

• mira_docking: This package contains the code for the docking task.

• visualize: This package provides visualization tools for debugging and monitoring the AUV's state and sensor data.

• custom_msgs: This folder contains custom message definitions for communication between the ROS nodes.

Usage

Setup

Install the required packages, and dependencies

Install Joy node for controller communication

sudo apt-get install ros-noetic-joy

Install cv_bridge and image_transport packages

sudo apt-get install ros-noetic-cv-bridge ros-noetic-image-transport

Install OpenCV (preferably version 4.6)

sudo apt-get install -y libopencv-dev

Before running the packages, add the following lines to your ~/.bashrc file:

export ROS_IP=192.168.2.3
export ROS_MASTER_URI=http://192.168.2.1:11311
export ROS_HOSTNAME=192.168.2.3

After adding the lines, source your workspace where this repository is cloned:

source /path/to/workspace_name/devel/setup.bash

Then, build the packages using catkin_make.

Prerequisites

Before running the code, make sure you have completed the setup steps mentioned in the main README file. This includes setting the ROS environment variables and sourcing the workspace.

Running the Code

1. Launch the Perception Node

$ roslaunch mira_perception perception.launch

This will start the perception nodes responsible for subscribing camera topics and publishes Aruco id, waypoints and pose.

2. Launch the ROV Node

$ roslaunch mira_rov teleop.launch

This will launch the Remotely Operated Vehicle (ROV) node, to move the AUV using the controller using the joystick. Run this till the Aruco market is detected.

3. Launch the Docking Node

$ roslaunch mira_docking dock.launch

Launch the docking node, which contains the code for the docking task, and kill the ROV node.

4. Launch the Controller Node

$ roslaunch mira_controller controller.launch

Launch the controller node for the AUV to navigate autonomously.