VantTec USV Main Repository

This is the main working repository for the USV (Unmanned Surface Vehicle) VantTec Platform. Official documentation [here][vanttec-documentation].

Prerequisites

1. CUDA 12.8 Toolkit
2. CUDNN 8.9.7
3. TensorRT 10.3.0
4. ZED SDK
5. Gazebo Sim - Harmonic
6. Install the following dependencies:

sudo add-apt-repository ppa:borglab/gtsam-release-5.1
sudo apt install libgtsam-dev libgtsam-unstable-dev ros-humble-xacro libpcap-dev ros-humble-robot-localization ros-humble-perception-pcl ros-humble-pcl-msgs ros-humble-vision-opencv ros-humble-tf-transformations ros-humble-foxglove-bridge ros-humble-nmea-msgs ros-humble-joy-teleop libgz-sim8 libgz-sim8-dev ros-humble-ros-gz ros-humble-ros-gzharmonic

# Install other missing dependencies automatically if needed:
rosdep install --from-paths src -y --ignore-src

1. Download the gz sim waves plugin

# Install the plugin dependenciess
sudo apt-get update
sudo apt-get install libcgal-dev libfftw3-dev

# Create a ws for the plugin
cd
mkdir -p gz_ws/src

# Clone the repo
cd ~/gz_ws/src
git clone https://github.com/srmainwaring/asv_wave_sim.git

# Specify $GZ_VERSION before compiling
export GZ_VERSION=harmonic

# Compile it
colcon build --symlink-install --merge-install --cmake-args \
-DCMAKE_BUILD_TYPE=RelWithDebInfo \
-DBUILD_TESTING=ON \
-DCMAKE_CXX_STANDARD=17

# Also build the GUI plugin
cd ~/gz_ws/src/asv_wave_sim/gz-waves/src/gui/plugins/waves_control 
mkdir build && cd build
cmake .. && make

1. Setup Gz Sim and the waves plugin, by adding these lines to the end of your ~/.bashrc file

source ~/gz_ws/install/setup.bash

export GZ_VERSION=harmonic

export GZ_SIM_RESOURCE_PATH=:~/vanttec_usv/src/usv_description/models:$GZ_SIM_RESOURCE_PATH

# ensure the model and world files are found
export GZ_SIM_RESOURCE_PATH=\
$GZ_SIM_RESOURCE_PATH:\
$HOME/gz_ws/src/asv_wave_sim/gz-waves-models/models:\
$HOME/gz_ws/src/asv_wave_sim/gz-waves-models/world_models:\
$HOME/gz_ws/src/asv_wave_sim/gz-waves-models/worlds

# ensure the system plugins are found
export GZ_SIM_SYSTEM_PLUGIN_PATH=\
$GZ_SIM_SYSTEM_PLUGIN_PATH:\
$HOME/gz_ws/install/lib

# ensure the gui plugin is found
export GZ_GUI_PLUGIN_PATH=\
$GZ_GUI_PLUGIN_PATH:\
$HOME/gz_ws/src/asv_wave_sim/gz-waves/src/gui/plugins/waves_control/build

1. Download and build this workspace

# Clone repository and its submodules
cd
git clone http://github.com/vanttec/vanttec_usv.git
cd vanttec_usv
git submodule update --init --recursive

# Build the usv_interfaces package first
colcon build --packages-select usv_interfaces

# Set environment variables with install/setup.bash file
source ./install/setup.bash

# Build the rest of the packages
colcon build

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