Tuna - ROS Autonomous Boat Prototype

Описание: It's a boat time I uploaded something, innit?

Git repo: https://github.com/MoffKalast/tuna
ROS Mobile: https://github.com/ROS-Mobile/ROS-Mob...

Other noteworthy packages used:
• http://wiki.ros.org/nmea_navsat_driver
• https://github.com/ARRevolution/MPU9255
• https://github.com/dpkoch/imu_calib
• http://wiki.ros.org/move_basic
• http://docs.ros.org/en/melodic/api/ro...

Timestamps:
0:00 Intro
0:35 Hardware
2:56 Software
4:20 3D Models
4:45 Testing
5:32 Go to Goal
7:27 Multi-goal Follow

Some of the things didn't address specifically:
• the IMU I was using only seemed to work well in two axis, so I had good roll and yaw, but no pitch (for both mag and gyro), and the accelerometer was completely busted with only one working axis
• the GPS raw data is generally pretty accurate, especially if you're moving but can wander up to like 5-15 m away from the initial point if you're stationary
• robot_localization's navsat_transform_node is intended to be used with the EKF nodes, though that requires you to have good IMU readings and that wasn't gonna happen, so I had to work around it by writing my own map-to-odom publisher that just uses a simple low pass filter for the navsat node's already somewhat filtered GPS and that seemed to be good enough for a first iteration
• odometry is inferred from cmd_vel from what I've been able to hand calibrate it, but it is good enough to offset the GPS wandering in the short term
• the 3D printed parts are FDM on an Ender 3 Pro, the rest of the boat was decade or more old RC boat I found in the attic

Music:
Morcheeba - Otherwise, Get Along, Wonders Never Cease