The C-Bot is an unmanned underwater vehicle developed by the Marine Instrumentation Department, CSIR-National Institute of Oceaography, Dona Paula, Goa.
This repository contains the software to be used on CBOT. It contains the algorithms for control, guidance and mission planning.
- Heading Control
- Depth Control
- Altitude Control
- Way Point Guidance
- Path following of straight line and sectors of arc in the presence of oceanic currents
- Navigation - Dead Reckoning, Acoustic based use range and bearing from iUSBL and Rnage only based navigation.
- Docking uisng acoustics and vision
- Capabale of self docking and release can be deployed for 6 months with one survey mission per month, and static monitoring twice a day while docked.
This assumes that you have ROS-Kinetic or ROS-Melodic installed on your machine.
You should have the following packages installed:
- UUV-Simulator (provide link)
- CBOT-Gazebo (provide link)
- ros_rtsp (provide link)
- CBOT-GCS (provide link)
- Create a workspace:
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws
$ catkin init # initialize your catkin workspace
The src should also contain the previously mentioned packages.
- Clone this repository:
$ git clone https://github.com/MohitGupta007/ROS-Cbot.git
- Create a ports.sh file to open the virtual serial ports(required for software in the loop simulation when not using real hardware).
socat PTY,link=/tmp/gps-write,raw,echo=0 PTY,link=/tmp/gps-read,raw,echo=0&
echo "GPS port ready: gps-write, gps-read"
sleep 0.1
socat PTY,link=/tmp/ahrs-write,raw,echo=0 PTY,link=/tmp/ahrs-read,raw,echo=0&
echo "AHRS port ready: ahrs-write, ahrs-read"
sleep 0.1
socat PTY,link=/tmp/thr-write,raw,echo=0 PTY,link=/tmp/thr-read,raw,echo=0&
echo "Thruster port ready: thr-write, thr-read"
sleep 0.1
echo "GUI port ready: GUI-write, GUI-read"
socat PTY,link=/tmp/GUI-write,raw,echo=0 PTY,link=/tmp/GUI-read,raw,echo=0
- Run the ports.sh file by running:
$ bash ports.sh
- Run the CBOT-Gazebo package to launch the UUV in Gazebo environment. See the repo for more information.
$ roslaunch cbot_description upload_cbot.launch
- Run this repositiory
$ roslaunch cbot cbot.launch
- Pramod Maurya,
- Lakshadeep Naik
- Mohit Sushil Gupta