Welcome to Lehigh Underwater Robotics documentation

Check out the Getting Started section for further information, including the Directory Structure of the project.

This documentation is broken into the following sections:

Getting Started

This section describes the process of setting up the environment and navigating the docs

Docker

This section documents the docker image that allows for simple testing. Eventually we may try to house everything in the container, even on the jetson… we’ll see.

Warning

Currently under active development, I have only run this on my personal machine and jetson architecture is arm so not ready there, see nvidia docs here for details. Also see, some nice premade containers

Simulation

ROS

This section gives an intro to the ros environment on the jetson.

Note

While it makes things easier, much of ros isn’t needed for our use (for example topics are just tcp/ip socket connections). With performance, simplicity, and ease of use in mind, it could eventually be beneficial to redesign things. Look into microros

Computer vision

This section goes into detail about the computer vision. We use OpenCV to run a YOLO model to recognize images.

Sonar

This section describes our use of sonar. We use bluerobotics ping-protocol

Teensy

This section details our movement control system. We have 8 thrusters connected to a teensy. The teensy is connected to the jetson via serial.

Controller

This section describes our design thoughts for a frontend controller.

Note

Haven’t figured out the best way to work with the tether yet but hopefully we can create an interface with the DearImGui library to be able to control the drone.