Stinger Tug Core Software
stinger_bringup
drivers for imu, gps, camera, lidar
launch file for publishing odom using robot localization
launch file for publishing static tf
node for controlling the motors
launch file for simulation
stinger_description
urdf of the boat
stinger_autonomy
state manager
stinger_controller
velocity controller
stinger_perception
detect the gate
stinger_sim
simulation world definition
hooks and bridges for sensor emulation
Follow INSTALL.md to install all the requirements
Connect to wifi on your laptop: GL-MT3000-0a9 OR GL-MT3000-0a9-5G
- Password:
boats0519
For Research Demo Tug:
ssh tug1@192.168.8.189
pw: boats0519
Before bringup, grant necessary permissions in the terminal that you are going to launch the sensor:
sudo pigpiod # for motors
sudo chmod 666 /dev/serial0 # for gps
sudo chmod 666 /dev/video0 # for camera
Bringup nodes:
ros2 launch stinger_bringup sensors.launch.py
If wish to run independently:
- ros2 launch sllidar_ros2 sllidar_c1_launch.py
- ros2 run stinger_bringup camera-node
ros2 launch stinger_bringup localization.launch.py
ros2 run stinger_bringup motor-node
- ros2 topic pub /stinger/thruster_stbd/cmd_thrust std_msgs/msg/Float64 "{data: 20.0}"
Autonomy nodes:
ros2 run stinger_autonomy state_node
ros2 run stinger_perception perception_node
ros2 run stinger_controller velocity_controllor
ros2 run stinger_controller throttle_controller
## Simulation Quick start
ros2 launch stinger_bringup vehicle_sim.launch.py