CUSub Common

This section will go into the details of the common parts of the CU robosub.

Running Common

In order to run the common packages it is recomend to launch:

roslaunch cusub_common leviathan_sim.launch

keep in mind that this package must be launched on top of the sim launches. this means that both a gazebo environment and the leviathan description must be launched.

System Packages

cusub_common: meta-package for organizing software stack

cusub_common_bringup

Waypoint Navigator

Debugging tools

Motor controllers

Drivers

gazebo_drivers

actuator

Depth sensor

occam

pololu_controller

sparton imu

ROS Topic Interface

Currently the majority of topics will be placed under this namespace:

<sub_name>/cusub_common/<topics>

the exceptions being motor_controllers and occam due to their large topic list:

<sub_name>/cusub_common/motor_controllers/<topics>
<sub_name>/cusub_common/occam/<topics>

Known Issues

will provide known issues and solutions for this meta-package