Github repository TOC

This readme lists our repositories and the links for better access.

ROS Marine Vehicle Packages (ROS-MVP): Current ROS-Version: JAZZY

• mvp_mission: MVP Helm and beahvior plugins.

• mvp_control: low-level vehicle control using thruster allocation and QP solver.

• mvp_msgs: MVP messages and services.

• mvp_hardware_drivers: include all sensor drivers we used.

• mvp_utilites: include a list of tools for mvp

• mvp_gui: a simple GUI for monitoring and piloting vehicles using mvp framework

• mvp_c2: control and command system for two-way data transfer using UDP or serial, works with MVP GUI2

• mvp2_test_robot: a demo vehicle for testing our mvp_framework

• world_of_stonefish: stonefish simulation files for our vehicles, and drivers to connect to mvp

• Reference

  • Ocean's paper: information about the original MVP design. Software has been consistently updated since then.
  • Thesis. A detailed information about the design of the MVP framework from the original creator Emir.
  • AUV2024 Paper: a more recent paper on mvp framework

Forks of major external resources

• stonefish
• stonefish_ros2
• osqp

Under-ice nav

• MSCKF-DVIO: MSCKF VIO with DVL. paper (IROS2023).

• under-ice rov: configuration files for the under-ice rov. paper.

• Under-ice Dataset: comming soon.

Vehicle configurations

• alpha_rise_auv: our sensor-loaded AUV for iceberg mapping missions.

• alpha_std_auv. An example repository for trying out mvp in stonefish simulation environment.

• alpha_core: core hardware interfaces sensor drivers (external)

• alpha_img_auv: configuration of an alpha iteration with forward-looking sonar and scanning sonar for subsea mapping and sonar image processing research.

• race_auv: configuration of a box-type AUV used for underwater resident projects.

Sensor drivers

• BlueRobotics Ping360: ROS-noetic driver for Ping 360 with modifications to produce point cloud data.

• BlueRobotics Bar30: Blue Robotics Bar30 pressure tempreature sensor ROS driver.

• Power monitoring: ROS driver to interface with MCP3422 ADC chip to read system voltage and current.

• Waterlinked DVL: Water Linked DVL ROS driver (ethernet).

• XSens MTi600: XSens MTi ROS driver, tested on 600-series and 1-series.

• Nortek DVL-1000: ROS driver for Nortek DVL-1000 (Ethernet version).

• Nortek DVL-1000: ROS driver for Nortek DVL-1000 (serial version).

• Blueprint Oculus: ROS driver for Blueprint Oculuse multibeam image sonar.

• microstrain IMU

Others

• jackal setup: Jackal setup for OCG120G class.

• AUV manual: a manual for operate AUV running MVP and how to customize mvp.

• alpha_hardware: CAD and PCB design files for Alpha auv