This repository contains the ROS nodes for the TANDEM project, designed for Girona500 AUV inspection tasks.

⚠️ Required Environment

This software has been developed and tested under a very specific set of dependencies. It is not guaranteed to work with other versions (e.g., newer Stonefish versions).

For stable operation, your system MUST match the following configuration:

• Operating System: Ubuntu 20.04
• ROS Distribution: ROS Noetic

Stonefish Simulator Configuration

This project is validated against a specific build of the Stonefish simulator. Using versions other than those listed below will likely result in compilation errors or simulation-time failures.

• Stonefish : Core Library - Version v1.3
• stonefish_ros : ROS Wrapper - Versionv1.3
• cola2_stonefish: COLA2 Integration - Branch master

Note: The cola2_stonefish repository's master branch is configured to work specifically with the v1.3 releases of stonefish and stonefish_ros.

📦 Installation

1. Ensure the Required Environment (see above) is correctly set up.
2. Clone this repository into your Catkin workspace's src directory:

   cd ~/catkin_ws/src
   git clone https://github.com/srv/tandem.git

3. Build the workspace:

   cd ~/catkin_ws
   catkin build

4. Source the workspace:

   source ~/catkin_ws/devel/setup.bash