sauvc-dockerfiles

A repository that contains the docker image for SAUVC

Owner: Leonardo Edgar ([email protected])

Table of Contents

1. Getting started
2. Prerequisites
3. Installing
4. Run
5. References

1. Getting started

Welcome to NTU MECATron SAUVC (Singapore Autonomous Underwater Vehicle Challenge) project! There are just a few steps to get you started with developing!

2. Prerequisites

1. Compute
   • Any computer (with amd64 architecture)
2. Arduino Mega 2560
3. Xsens MTi-300 (100 series)
4. Software packages
   • Git >= 2.17.2
   • Docker >= 20.10
   • Docker Compose >= 1.29.2

3. Installing

• To pull and update dependent repositories

./update-sourcecode.sh

• To build the development docker image

docker-compose -f docker-compose-dev.yaml build

• To build the deployment docker image

docker-compose build

• To build update the arduino liibrary
  1. Copy all libraries into ~/Arduino/libraries/
  2. Update the arduino using the development container

  docker-compose -f docker-compose-dev.yaml run rosmaster cd Arduino/libraries && ./build_arduino.sh

4. Run

• To run the development container

docker-compose -f docker-compose-dev.yaml run rosmaster

• To run the deployment container

  1. Upload Arduino script using the Arduino IDE (To ensure ROS Serial can detect ROS nodes in Arduino)
  2. Start all docker services

  docker-compose up

• To run the IMU (Xsens MTi)

./run_imu_node.sh

5. References

• Xsens MTi Driver