easys_a1

Easys is an open source underwater robot. This repository contains the hardware and ROS 2 software needed to control the platform.

• Document Page
• Youtube

Software

Target Environment

• Raspberry Pi 4 (4 GB RAM or higher) as the onboard computer
• Ubuntu 22.04
• ROS 2 Humble

If you are using Docker, the scripts under setup_env/ provide build and run helpers.

Install dependency packages (rasberry pi)

• ms5837_bar_ros
• bno055

Install dependency packages (remote PC)

• yolov8_ros
• rviz_2d_overlay_plugins

Installation (robot and remote PC)

cd <your_ros2_workspace>/src
git clone https://github.com/tamago117/easys_a1.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
pip install -r src/easys_a1/requirements.txt
colcon build --symlink-install

Launching

On the robot

ros2 launch easys_ros easys_control.launch.py

On the remote PC

ros2 launch easys_ros remote_control.launch.py

Simulator

The Gazebo-based simulator is available at Easys_sim.