Medusa Base

This repository holds the Medusa Base code stack for underwater marine vehicles of DSOR-ISR (Dynamical Systems for Ocean Robotics - Institute for System Robotics). It contains the base of the control and navigation stack found in the MEDUSA class of marine vehicles.

Requirements

This code stack was developed with ROS1 in mind. In order to use, you are required to have:

• Ubuntu 20.04LTS (64-bit)
• ROS1 Noetic
• Python 3

Installation

• Run the installation script (note: you will require administrator priviledges)

wget https://github.com/dsor-isr/medusa_base/blob/main/install_requirements.sh
./install_requirements.sh
rm install_requirements.sh

• Clone this repository and its submodules to the catkin workspace:

git clone --recursive [email protected]:dsor-isr/medusa_base.git

Using Medusa Scripts and Alias

In order to make use of the scripts and alias developed to make the development of code easier, please add the following lines to your ~/.bashrc file. NOTE: replace '/<path_to_workspace>' with the folder where you put you catkin_ws inside. If you put in your home folder, then this variable should be left empty!

# Function to change between different catkin workspaces on the fly - this is not compulsory, but it is a nice addition 🤓

# Create a file to store the latest catkin workspace (if it does not exist) and put in the first line the default name, i.e. catkin_ws
if [ ! -f ~/.catkin_ws_config ]; then touch ~/.catkin_ws_config && echo catkin_ws > ~/.catkin_ws_config ;fi

# Set the variable CATKIN_PACKAGE with the workspace in the catkin_ws_config file
export CATKIN_PACKAGE=$(head -n 1 ~/.catkin_ws_config)

# Function to update the default catkin workspace variable and store the last setting in the file
set_catkin_ws_function() {
    #set CATKIN_PACKAGE according the an input parameter
    export CATKIN_PACKAGE=catkin_ws_$1
    echo CATKIN_PACKAGE = ${CATKIN_PACKAGE}
    
    # save into a hidden file the catkin workspace setting
    echo $CATKIN_PACKAGE > ~/.catkin_ws_config
    source ~/.bashrc
}

# This is required (to source the ROS and medusa files)
source /opt/ros/noetic/setup.bash
export CATKIN_ROOT=${HOME}/<path_to_workspace>
export ROS_WORKSPACE=${CATKIN_ROOT}/${CATKIN_PACKAGE}
export MEDUSA_SCRIPTS=$(find ${ROS_WORKSPACE}/src/ -type d -iname medusa_scripts | head -n 1)
source ${MEDUSA_SCRIPTS}/medusa_easy_alias/medusa_permanent_alias/alias.sh

Compile the code

• Compile the code

cd ~/<path_to_workspace>/<catkin_ws>/
catkin build

Add submodules

To add submodules to this repo (or another within the DSOR infrastructure) the standard practice is the following:

git submodule add [email protected]:dsor-isr/<repository name>.git

Now, go to .gitmodules file inside the repo, via vim .gitmodules or another editor of choice, and change the following line

url = ...

to

url = ..\<repository name>.git

Citation

If you use Medusa Base in a scientific publication, please cite:

TODO

Documentation

https://dsor-isr.github.io/medusa_base/

Active Developers

• João Quintas [email protected]
• Marcelo Jacinto [email protected]
• David Souto [email protected]
• André Potes [email protected]
• Francisco Rego [email protected]
• David Cabecinhas [email protected]

Previous Contributors

• João Cruz
• Hung Tuan
• Shubham Garg
• Jorge Ribeiro
• Miguel Ribeiro
• Henrique Silva
• João Botelho
• Filipa Almeida

Omnipresent

• Prof. António Pascoal
• Prof. Carlos Silvestre
• Prof. Rita Cunha
• Prof. Bruno Guerreiro
• Prof. Pedro Batista
• Luís Sebastião
• Manuel Rufino
• Pedro Gois
• Helena Santana

License

MedusaBase is open-sourced under the MIT license. See the LICENSE file for details.