fls-ros2-humble

https://github.com/abinesh-thankaraj/fls-ros2-humble

Science Score: 44.0%

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CITATION.cff file
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Low similarity (10.0%) to scientific vocabulary

Last synced: 6 months ago · JSON representation ·

Repository

Basic Info

Host: GitHub
Owner: Abinesh-Thankaraj
License: apache-2.0
Language: C++
Default Branch: main
Size: 1.68 MB

Statistics

Stars: 0
Watchers: 1
Forks: 0
Open Issues: 0
Releases: 0

Created about 1 year ago · Last pushed about 1 year ago

Metadata Files

Readme Changelog License Citation

README.md

FLS-ROS2-Humble

A ROS2 migration of the npsuwmultibeam_sonar package for the Blueview p900 multibeam sonar.

Requirements

ROS2 Humble
Gazebo 11.X.X
NVIDIA GPU with at least 4GB memory
NVIDIA CUDA Toolkit (installation guide here and architecture compatibility here)

This plugin was developed and tested using: - CUDA 12.4 - NVIDIA driver 550.142 - NVIDIA GPU - Quadro M1200 Mobile

Dependencies Required

ros-humble-image-pipeline
ros-humble-velodyne-simulator

Running the Project Locally

Step 1: Install Necessary Dependencies

Update the system and install required ROS2 packages: bash sudo apt update sudo apt install ros-humble-image-pipeline ros-humble-velodyne-simulator sudo apt-get install ros-humble-gazebo-plugins

Step 2: Create a Workspace and Clone Necessary Packages

Create a new workspace, navigate to the src directory, and clone the required repositories: ```bash mkdir -p sonarros2/src cd sonarros2/src

git clone https://github.com/Abinesh-Thankaraj/FLS-ROS2-Humble.git git clone https://github.com/Abinesh-Thankaraj/hydrographic_msgs.git Navigate back to the workspace:bash cd .. ```

Step 3: Build and Source the Package

Build the package, source it, and add it to your ROS2 environment: bash colcon build source install/setup.bash echo "source $(pwd)/install/setup.bash" >> ~/.bashrc source ~/.bashrc

Step 4: Launch the Sample File

Run the launch file for the nps_uw_multibeam_sonar package: bash ros2 launch nps_uw_multibeam_sonar sonar_tank_blueview_p900_nps_multibeam.launch.py Image Description

Sonar-ROS2-Humble

Multibeam sonar Gazebo plugin with NVIDIA Cuda library

Wiki

For additional details and usage, refer to the Field Robotics Lab Wiki.

This plugin follows the same command-line conventions as ROS1, but with the updated ROS2 syntax.

Owner

Login: Abinesh-Thankaraj
Kind: user

Repositories: 1
Profile: https://github.com/Abinesh-Thankaraj

Citation (CITATION.cff)

cff-version: 1.2.0
message: "If you use this software, please cite it as below."
authors:
  - family-names: Choi
    given-names: Woen-Sug
    orcid:  https://orcid.org/0000-0002-1450-1848 
  - family-names: Olson
    given-names: Derek R.
  - family-names: Davis
    given-names: Duane
  - family-names: Zhang
    given-names: Mabel
  - family-names: Racson
    given-names: Andy
  - family-names: Bingham
    given-names: Brian
  - family-names: McCarrin
    given-names: Michael
  - family-names: Carson
    given-names: Vogt
  - family-names: Herman
    given-names: Jessica
title: "Physics-Based Modelling and Simulation of Multibeam Echosounder Perception for Autonomous Underwater Manipulation"
doi: 10.3389/frobt.2021.706646
date-released: 2021-09-08
url: "https://github.com/Field-Robotics-Lab/nps_uw_multibeam_sonar"
preferred-citation:
  type: article
  authors:
  - family-names: Choi
    given-names: Woen-Sug
    orcid:  https://orcid.org/0000-0002-1450-1848 
  - family-names: Olson
    given-names: Derek R.
  - family-names: Davis
    given-names: Duane
  - family-names: Zhang
    given-names: Mabel
  - family-names: Racson
    given-names: Andy
  - family-names: Bingham
    given-names: Brian
  - family-names: McCarrin
    given-names: Michael
  - family-names: Carson
    given-names: Vogt
  - family-names: Herman
    given-names: Jessica
  doi: "10.3389/frobt.2021.706646"
  journal: "Frontiers in Robotics and AI"
  month: 9
  start: 1 # First page number
  end: 11 # Last page number
  title: "Physics-Based Modelling and Simulation of Multibeam Echosounder Perception for Autonomous Underwater Manipulation"
  volume: 8
  year: 2021

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