stingray

Stingray is a ROS based framework for autonomous underwater vehicles (AUV)

Dependencies

• ROS2 iron - base framework
• YOLOv5 - for object detection
• pytransitions - for state machine
• serial - for communication with stm32 and etc.

Setup Stingray framework

• Initialize and update git submodules used in project:

git submodule update --init --recursive

• Install requirements from yolov5

• Install ros packages:

sudo apt-get install ros-iron-serial ros-iron-usb-cam ros-iron-rosbridge-server ros-iron-image-view ros-iron-zbar-ros

• Install pytransitions dependencies

sudo apt install graphviz-dev
pip3 install pygraphviz transitions

• Build

source /opt/ros/iron/setup.bash
catkin_make

Setup workspace before you start to work:

source install/setup.bash

Run

See the example of custom launch file here

Run with Gazebo simulation:

• Clone and build our simulator (now it’s only for sauvc competition).
• Run simulator.

roslaunch stingray_startup main.launch simulation:=true 

Run with qr codes

➦ Full description here

Use arg:

qr_launch:=true 

Show your qr code to vehicle camera.

If stop qr code has been detected then the running launch file will be stopped.

Other args:

• hardware_connection:=false - disable connection btw jetson and stm32 via serial (uart_driver)
• stream:=true - enable web video stream from all cameras
• debug:=true - enable image_view nodes and publishing output videos after object detection
• file_cam:=true - provide input videos from file
• record_raw:=true - enable recording video from all cameras
• record_output:=true - enable recording video after object detection

Launch system

stingray_startup package contains launch files for running the whole system.

Main launch file

Use main.launch as the base for your custom launch file. Include like this:

```xml

File truncated at 100 lines see the full file