Software installation

Vortex-AUV installation

Prerequisites

• Ubuntu 18.04
• ROS melodic (Follow the official installation guide)
• A system with Git SSH and PAT setup completed!

Step 1: Create a ROS workspace

1. creating a workspace:

   mkdir -p ~/vortex_ws/src && cd ~/vortex_ws

Step 2: Download the required repositories and dependencies

1. Enter the folder where you want to clone the repository:

    cd ~/vortex_ws/src

2. Clone the main repository:

     git clone https://github.com/vortexntnu/Vortex-AUV.git

3. Enter the main repo

   cd Vortex-AUV
   

4. Fetch apt-package dependencies

   xargs -a packages.txt sudo apt-get install
   

5. Install python dependencies

   pip install -r requirements.txt
   

6. Fetch the other required repositories

   cd ~/vortex_ws/src
   sudo vcs import --skip-existing --input Vortex-AUV/dependencies.repos
   

Build and source the workspace

1. Build the workspace:

   cd ~/vortex_ws
       source /opt/ros/melodic/setup.bash
   catkin build

2. Add automatic sourcing of the workspace when opening a terminal window:

   echo "source ~/vortex_ws/devel/setup.bash" >> ~/.bashrc

3. close the current terminal.

Optional steps

The steps you find below are optional, but required for some uses of the vortex software stack.

Vortex Simulator

In case you wish to use the simulator for testing (which should be often!) you can follow the steps here

Install the ZED-ROS-Wrapper

Perform these steps if you are using the Zed camera. Official documentation

1. Download and install ZED SDK

   1. Download from Stereolabs
   2. Enter the directory with the file:

    cd path/to/download/folder

   3. Make the file executable:

    chmod +x ZED_SDK_Ubuntu18_v3.0.run
   

   4. Run the installer:

    ./ZED_SDK_Ubuntu18_v3.0.run
   

2. Enter the catkin workspace:

    cd ~/vortex_ws/src

3. Clone the zed-ros-wrapper and zed-ros-interfaces repos:

git clone https://github.com/stereolabs/zed-ros-wrapper --recursive

4. Jump up to parent directory:

    cd ../

5. Install dependencies:

    rosdep install --from-paths src --ignore-src -r -y

6. Build the package:

    catkin build

7. Source the package:

    source ./devel/setup.bash

Vortex-Simulator Docker installation

Prerequisites

• Docker
• ROS noetic
• Vortex-AUV must be installed

Installation (docker)

1. Installation

Install Docker and docker-compose:

sudo apt-get update && sudo apt-get install apt-transport-https ca-certificates curl gnupg lsb-release

 curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg

sudo apt-get update && sudo apt-get install docker-ce docker-ce-cli containerd.io

 sudo curl -L "https://github.com/docker/compose/releases/download/1.29.2/docker-compose-$(uname -s)-$(uname -m)" -o /usr/local/bin/docker-compose

sudo chmod +x /usr/local/bin/docker-compose

sudo ln -s /usr/local/bin/docker-compose /usr/bin/docker-compose

2. Build and run the container

Once Docker and docker-compose is installed, you can clone the repo and build the container that the simulator runs in:

git clone -b master_containerized https://github.com/vortexntnu/Vortex-Simulator/

cd ./Vortex-Simulator && sudo docker-compose build

sudo docker-compose up -d vortex-simulator

sudo docker-compose exec vortex-simulator /bin/bash

You are now inside the container, and may build the simulator.

cd ~/sim_ws && catkin build

Installation (non-docker)

1. Enter the folder where you want to clone the repository:

   cd vortex_ws/src

2. Clone the repository:

   git clone https://github.com/vortexntnu/vortex-simulator.git

3. Compile the code by running "catkin build" inside the workspace:

   cd ~/vortex_ws/
   catkin build

Additional notes

Dependencies for ROS Noetic in case of upgrade:

sudo apt install protobuf-compiler ros-noetic-rosbridge-server ros-noetic-message-to-tf ros-noetic-geographic-msgs ros-noetic-move-base ros-noetic-move-base-msgs python3-osrf-pycommon python3-openpyxl python-yaml python-enum34 python3-pip python3-catkin-tools libgeographic-dev

then

pip3 install pyquaternion smbus scipy websocket-client adafruit_pca9685 rospkg bluerobotics-ping

To get rid of any pesky python2 errors still left behind, run:

sudo apt remove python2
sudo apt autoremove
sudo apt install python-is-python3

Note that this removes python2 from your system entirely!