Vortex AUV

This repo contains software for operating UUVs, developed by students at NTNU. The software is based on the ROS2 Humble framework, and aims to be hardware independent. Although the main focus of Vortex is autonomous operation, this software stack supports both AUV and ROV operations.

Docker

Prerequisites

• Install Docker

Building and Running

To build the Docker image (tagged as auv-image:latest) and start a container, execute the following script in this repository:

./entrypoint.sh

Once the container is running, your local workspace is mounted at /docker/ws within the container. This means any changes you make locally are immediately reflected inside the container. Also, if you build inside the container (colcon build), the generated build/, log/, and install/ directories will be stored locally. Your local workspace should follow a standard ROS 2 structure:

ws/
│── build/
│── log/
│── install/
│── src/
│   └── vortex-auv/
│   └── vortex-msgs/

Documentation

• TODO: Drivers and hardware specifics for each drone will be added to the wiki. Link them here.
• TODO: How to adapt the software stack to new hardware.
• A collection of master theses written by Vortex members:
  • Manta v1: A Deliberative Agent Software Architecture for Autonomous Underwater Vehicles
  • A real-time DVL and pressure sensor AINS comparison study between EKF, ESKF and NLO for Manta-2020
  • Sonar EKF-SLAM and mapping inanstructured underwater environment
  • Autonomous Navigation, Mapping, and Exploration for Underwater Robots