Poseidon

Hydrographic surveying platform operating system

NOTE: Clone the repo in /opt for proper use. call the installation file located in install/ acording to the environement you have.

Google Cartographer installation

On ROS Noetic:

sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src

according to : cartographer-project/cartographer_ros#1726 delete line 46 or the line containing<depend>libabsl-dev</depend>

sed -i '46d' filename

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
sh src/cartographer/scripts/install_abseil.sh
catkin_make_isolated --install --use-ninja

Compile and run Poseidon on virtual machine

Instruction:

sudo apt install git
sudo chown $USER:$USER /opt
cd /opt
git clone --recursive <poseidon repo>

Run these scripts:

• /opt/Poseidon/install/stages/1-base-ros-noetic.sh
• /opt/Poseidon/install/stages/2-x64.sh
• /opt/Poseidon/install/stages/3-network.sh
• /opt/Poseidon/install/stages/4-x64.sh
• /opt/Poseidon/install/stages/5-finalize.sh

Example :

sh /opt/Poseidon/install/stages/1-base-ros-noetic.sh

Source ros environement:

source /opt/ros/noetic/setup.bash

Optional, automatic sourcing ros environement:

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

Start new terminal or :

source ~/.bashrc

Changes to build poseidon on virtual machine:

cd /opt/Poseidon/src/workspace
catkin_make -j1 -DCATKIN_BLACKLIST_PACKAGES="mavros;mavros_extras;mavros_msgs;test_mavros;libmavconn;raspberrypi_vitals"

Source poseidon workspace:

source devel/setup.bash

Or

echo "source /opt/Poseidon/src/workspace/devel/setup.bash" >> ~/.bashrc

Start new terminal or :

source ~/.bashrc

Launch simulator:

roslaunch launch/Simulator/dummy_simulator_virtual-machine.launch

Start browser and navigate to localhost or 127.0.0.1

Unit test

See readme for tests :

• sonar_nmea_0183_tcp_client
• gnss_zed_f9p

Run tests

catkin_make run_tests -j1 -DCATKIN_BLACKLIST_PACKAGES="ins_piksi;libmavconn;echoboat_odometry;mavros_msgs;mavros;mavros_extras;test_mavros;gnss_mosaic_x5;imu_bno055;sonar_imagenex852;inertial_sense;raspberrypi_vitals;imu_null;sonar_dummy;gnss_dummy;lidar_filtering"

Replay Echoboat Rosbag

In poseidon workspace:

roslaunch launch/Echoboat/rosbag_replay.launch bag_filename:=rosbag.bag

Geo-reference Lidar

In poseidon workspace:

./devel/lib/logger/lidarGeoreferencer file > outputFile.txt

Activate filtering:

./devel/lib/logger/lidarGeoreferencer -f -a -135 -b -45 -d 1 -e 5 file > outputFile.txt

For help:

./devel/lib/logger/lidarGeoreferencer

Logging mode

• Always ON : 1
• Manual : 2
• Speed based : 3