Getting Started with CUSub¶
This guide assumes you have an understanding of ROS build environments and git version controlling. some Helpful resources helpful resources can be found at the ned of this page.
Setting up your workspace¶
The CUSub software stack consists of 4 meta-packages that contain all the runtime code for running the sub in sim and on the platform.
CUSub Sim: Contains all of the code related to the simulated underwater environment and descriptions of the subs.
CUSub Common: Hosts all of the drivers, motor controllers, sensor fusion, debugging tools and basic waypoint navigation server.
cusub_perception: image classification, feature extraction, and localization of objects.
cusub_cortex: Top level logic for controlling the sub including the state machine, global mapper, and bringup scripts for running the entire system as a whole.
in order to setup the CUSub workspace clone the repo into the src folder of you catkin_ws
cd ~/<your_catkin_ws>/src
git clone https://github.com/CU-Robosub/cusub
The software stack depends on a few external repositories that have been included as submodules. To initialize them:
cd cusub
git submodule init
git submodule update
note that as the submodules are updated by the respective repo owners it may be necessary to re-update to the latest code to ensure compatibility.
Library Dependencies¶
In order to build the sim package the protobuf C compiler is required
sudo apt install protobuf-compiler protobuf-c-compiler
Building the system¶
The preferred method of building the CUSub software environment involves using the catkin build tool rather than the catkin_make tool. to install catkin build
sudo apt install python-catkin-tools
once the catkin build tools are installed you can build each meta-package individually to ensure your environment is properly setup. first move back to the root of your ws
cd ~/<your_caktin_ws>
The recommended order is:
catkin build cusub_sim
catkin build cusub_common
To get started working with the sub it is not necessary to build the perception or cortex meta-packages and it is recommended that you have these two packages working before adding the perception and cortex packages.
catkin build cusub_perception
catkin build cusub_cortex