F23 - Software
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Jetson Orin Nano and ROS2 Humble migration
- 3 docker containers
- Container for ROS2 ‘Isaac’: Provides ROS2 Humble support on ARM.
- Container for processing ZED2i camera’s stereo image feed and IMU data.
- Container for x86_64 emulation to run sonar driver.
- 3 docker containers
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Creation of new simulation environment with Gazebo Garden
- Based on Nekton simulation.
- Provides simplified model of vehicle with hydrodynamics and full suite of sensors (IMU, camera, sonar).
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New ROS packages created
- Localization ROS node
- Uses robot_localization package to generate odometry data for IMU.
- Can be extended to include information from SLAM or other sources.
- Control package
- A node that receives commanded body velocities and uses PID to generate body accelerations.
- A node that converts body accelerations to required individual thruster commands.
- Localization ROS node
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Blueview P900 sonar driver implementation
- Handles communication between sonar and computer.
- Teledyne sonar SDK - x86 only and limited ROS integration.
- Created ROS2 wrapper node:
- Uses SDK to retrieve 16bit mono images in R- θ format from the sonar.
- Node can be run in a QEMU-enabled docker container, allowing ARM-based Jetson Orin to run the x86-based SDK.
- A 2nd node running outside the container (for improved performance) can subscribe to the sonar image and convert it to a more standard point cloud format.