This repository contains the ROS powered code that runs on Seawolf-8, an autonomous submarine built by North Carolina State Universities underwater robotics club.

The following packages are required and not included in the repository:

• ros-noetic-mavros
• ros-noetic-pid
• OpenCV 4.2 (with python 3 bindings)

After the project has been built, a simulated version of Seawolf-8 can be launched by running the simulate_seawolf8.launch file in roslaunch.

The following is a list of major ROS topics in this project that a developer should be aware of

• wolf_control/goal
  • Sets setpoints for the sub to move towards
    • angular x y z are in terms of the subs magnetic compass and setting these will make the pose controller align the sub to this magnetic heading
    • linear z is in terms of depth below surface, and setting it will cause the sub to submerge to the given depth
    • linear x,y act as a speed vectors and exist in terms of "world" coordinates, an absolute reference frame. These values should generally not be set above 0.3, and control the speed and direction the sub travels in.
• cmd_vel
  • contains geometry_msgs/Twist messages that set the sub's linear (up, forward, left, etc.) and angular (pitch, roll, yaw) velocities directly
  • should not be set outside of pose controllers

• map
  • just a constant reference frame set on startup
• odom
  • reference frame oriented with the hull of the sub.

To run the tests, use this command

rostest PACKAGE TEST

most commonly tests will be "sanity check" tests which check the validity of topic IO of nodes within a package, these can run like this:

rostest wolf_serial sanity_checks.test