AUV Max: Plataform for Submarine AUV

Introduction

This project focuses on the development of a submersible UAV, using advanced technologies in robotics, automatic control and computer vision. Developed with ROS2 Humble, Gazebo Garden 7 and Rviz2, this project represents a pioneering effort in the simulation and operation of underwater autonomous vehicles.

Project Structure

The project is divided into several packages, each focused on a specific functionality:

Package	Description
auv_max	Packages necessary for the correct functioning of the project
auv_max_bringup	Launch files for the launch of Gazebo, Rviz and future physical implementations
auv_max_control_pos	Position control using a PID to control linear X-Z and angular position Yaw-Pitch
auv_max_description	URDF Files and Display Settings for Rviz
auv_max_gazebo	AUV model and world for simulation in Gazebo
auv_max_graphics	Graphic modules and visualizations for the AUV
auv_max_node	Main node in charge of communication between Gazebo-Rviz-ROS
auv_max_sonar	Algorithm commissioned to recognize obstacles underwater
auv_max_teleoperation	Algorithm for AUV teleoperation through the use of the keyboard
auv_max_vision_opencv	Computer vision implementation using OpenCV

Requirements

• ROS2 Humble
• Rviz2 (Installed directly with ROS2 Humble)
• Gazebo Garden 7
• OpenCV

Installation and configuration

Follow these steps to install and configure the project:

Installing dependencies

1. Install ROS 2 Humble (Documentation: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html)

2. Install Gazebo Garden 7 (Documentation: https://gazebosim.org/docs/garden/install_ubuntu)

3. Install OpenCV (Documentation: https://docs.opencv.org/4.x/d7/d9f/tutorial_linux_install.html)

4. Install additional dependencies

   sudo apt-get install ros-humble-xacro
   sudo apt-get install libncurses5-dev libncursesw5-dev
   sudo apt-get install ros-humble-ros-gzgarden*
   

Install the project

1. Create a workspace:

   mkdir ~/ros2_ws && cd ~/ros2_ws && mkdir src  
   
2. Clone the repository:

   cd src
   git clone https://github.com/iesusdavila/auv_max
   
3. Navigate to the project directory and run:

   colcon build
   
4. Set up the ROS environment:

   source /opt/ros/humble/setup.bash
   source install/setup.bash
   

Use

• Execute commands so that Gazebo recognizes plugin and model: https://github.com/RAMEL-ESPOL/auv_max/blob/main/initial_run.bash
• To launch the simulation in Gazebo: ros2 launch auv_max_bringup max_sim.launch.py
• To activate GUI teleoperated control: ros2 run auv_max_teleoperation gui_teleop.py
• To activate teleoperated control: ros2 run auv_max_teleoperation auv_teleop_keyboard

Development and Contributions

If you are interested in contributing to this project, consider the following:

• Code Style: Follow the ROS2 and PEP8 conventions for Python.
• Tests: Ensure that all new code is accompanied by unit tests.
• Documentation: All new developments must be properly documented.

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© 2023 AUV Max Project