nautilus_pi

Repo for UWROV's ROV's onboard code

Dependencies

Assumes you have a quad-core Raspberry Pi (or other ARM system), a Pi 4 or a Pi Zero 2 should both work fine

• Docker
• Docker Compose

Usage

Network Setup

First edit the net_config file to mirror the network configuration you desire, then run sudo python3 net_setup.py [hostname] to set up the network, this will edit the hostname files on your device and attempt to make them mirror the net_config file.

Note that the net_setup.py script currently doesn't support running multiple times - if things need to be changed, either update the script or edit the following files:

• /etc/hosts
• /etc/hostname
• /etc/dhcpcd.conf (if on raspbian) or /etc/netplan/01-netcfg.yaml (if on ubuntu)
• .env

Using the Container

The container will build itself on the first run of sudo docker-compose up, future builds must be triggered manually with sudo docker-compose build.

Launch the container with sudo docker-compose up, then connect to the container with sudo docker exec -it pi_container /bin/bash. I recommend creating an alias for this command with alias con="sudo docker exec -it pi_container /bin/bash" so you can simply connect with con.

Once the container is up and running, we have a nice little with ROS and OpenCV, which has been preconfigured to work with our surface node.

When finished, detach from the container and run sudo docker-compose down to clean up.