- Currently pretty well set up for local development
- Docker container + setup for ROS2
- Able to build code within container
Waiting on Jetson Orin Nano DevKit for hardware testing and install- DevKit has arrived, set up and working following Jetson Setup
- Done,
fish_campackage - Inital benchmarks show about 15fps, could be fast enough but might not be
- Done,
ping2_sonarpackage
Still work in progressHave testing setup but have yet to have succesfull control of motors, potential bad motor- Motor worked fine, we can control from arudino
Need to follow troubleshooting steps here to see if it is a hardware issue or not- Also looking at PWM breakout board to hopefully not have to run PWM through another board
- PWM breakout board arrived (https://www.adafruit.com/product/5690), allows us to go i2c->PWM
After trying the first board we got and it didn't work, we have now purchased https://www.adafruit.com/product/815 and it works for led control and presumably motor control soon- Can drive all 6 thrusters from 25A power supply! Video in images folder
- Wiring is currenlty super simple and not great, just power some terminal blocks and then connect with alligator clips
- Worked first try using (https://learn.adafruit.com/adafruit-bno055-absolute-orientation-sensor/overview)!
- ROS package integration soon
Everett is on this one, going to usejoypackage for ROS2- Done, launch file in
controller_node
- Still looking around for a good simulation package underwater and for ROS2