Simulation

Clone and go in repo

git clone --recursive https://github.com/Rumarino-Team/autonomy-stack.git
cd ./autonomy-stack

Quick Start with Docker (Recommended for CI/CD)

# Build the Docker image
docker build -t rumarino-headless:latest .

# Run headless simulation test
docker run --rm \
  --name headless-test \
  rumarino-headless:latest \
  bash -c "
    source /opt/ros/jazzy/setup.bash && \
    source /ros2_ws/install/setup.bash && \
    ros2 launch bringup test_mission_executor_headless.launch.py \
      mission_name:=prequalify \
      controller_name:=stonefish_hydrus \
      env_file_name:=hydrus_env_headless.scn &
    LAUNCH_PID=\$! && \
    sleep 15 && \
    kill \$LAUNCH_PID 2>/dev/null || true
  "

Local Development Setup

System Dependencies

Required Tools

• Python 3
• C++ compiler (GCC)
• Rust

Fedora:

# Install essential build tools
sudo dnf install python3 python3-pip gcc gcc-c++ rust cargo

# Install ROS 2
sudo dnf copr enable tavie/ros2
sudo dnf install ros-jazzy-desktop
sudo dnf install ros-jazzy-vision-msgs
sudo dnf install freetype-devel
sudo dnf install SDL2-devel
sudo dnf install glm-devel
sudo dnf install eigen3-devel
sudo dnf install ogre-devel
sudo dnf install opencv-devel
sudo dnf install openssl-devel
sudo dnf install boost-devel
sudo dnf install libepoxy-devel
python3 -m pip install wheel

Ubuntu:

# Install essential build tools
sudo apt update
sudo apt install -y python3 python3-pip python3-venv build-essential curl

# Install Clang/LLVM (required for Rust ROS 2 bindings)
sudo apt install -y libclang-dev llvm-dev clang

# Add ROS 2 repository (if not already added)
sudo apt install -y software-properties-common
sudo add-apt-repository universe
sudo apt update
sudo apt install -y curl gnupg lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

# Install ROS 2 and dependencies
sudo apt update
sudo apt install -y ros-jazzy-desktop \
    ros-jazzy-vision-msgs \
  ros-jazzy-sensor-msgs \
  ros-jazzy-geometry-msgs \
  ros-jazzy-rviz2 \
  ros-jazzy-usb-cam \
    libfreetype6-dev \
    libsdl2-dev \
    libglm-dev \
    libeigen3-dev \
  libogre-1.12-dev \
    libopencv-dev \
    libssl-dev \
    libboost-all-dev \
    libepoxy-dev \
    libtinyxml2-dev \
  ros-jazzy-pangolin \
    socat \
    pkg-config

Install Stonefish Simulator

cd ./vendor/stonefish
mkdir build
cd build
cmake ..
make -j16 # (where X is the number of threads)
sudo make install
cd ../../../../../

Computer Vision

ZED Custom Wrapper

Dependencies

• ZED-SDK 5.1
• Cuda 12.8

colcon build --packages-select zed_msg zed_custom_wrapper && source ./install/setup.bash && ros2 launch zed_custom_wrapper zed_custom.launch.py onnx_model_path:=./src/zed_custom_wrapper/yolov8n.onnx

Jetson run using prebuilt Orb-Slam3 libraries

This is the recommended path on Jetson devices when ORB-SLAM3 cannot be compiled locally.

1. Download the prebuilt bundle

cd /home/cesar/autonomy-stack
curl -L -o /tmp/orbslam-artifacts.zip \
  https://github.com/Rumarino-Team/autonomy-stack/releases/download/orb_slam_libs/artifacts.zip

2. Install the bundle into the workspace (Jetson Only)

rm -rf /tmp/orbslam-artifacts-extract
mkdir -p /tmp/orbslam-artifacts-extract
unzip -o /tmp/orbslam-artifacts.zip -d /tmp/orbslam-artifacts-extract
ART=/tmp/orbslam-artifacts-extract/artifacts/orbslam-arm64/
sudo install -m 644 $ART/lib/* /usr/lib/ && sudo ldconfig

3. Run the launch file

ros2 launch orb_slam3_ros2 orb_slam_sim_launch.py

Example using all optional arguments:

ros2 launch orb_slam3_ros2 orb_slam_sim_launch.py \
  use_viewer:=true \
  use_imu:=true \
  use_depth:=false \
  image_topic:=/camera/color/image_raw \
  depth_topic:=/camera/depth/image_raw \
  imu_topic:=/vectornav/imu \
  settings_file:=/home/cesar/autonomy-stack/src/orb_slam3_ros2/config/webcamera.yaml \
  use_usb_cam:=true \
  use_vectornav:=true

Notes

• The artifact bundle is built for Jetson-compatible Ubuntu 22.04 / ROS Humble ABI levels.

Kalibr (Camera + IMU calibration)

Use the repository Kalibr wrapper in tools/kalibr to calibrate camera intrinsics and camera-IMU extrinsics.

1) Prepare tools

docker pull stereolabs/kalibr:latest
chmod +x tools/kalibr/run_kalibr.sh
chmod +x tools/kalibr/extract_orbslam_tbc.py

2) Record calibration bags

# Camera intrinsics bag
ros2 bag record /usb_cam/image_raw -o bags/cam_intrinsics
# Camera + IMU bag for extrinsics
ros2 bag record /usb_cam/image_raw /vectornav/imu -o bags/imucam

3) Calibrate camera intrinsics

bash tools/kalibr/run_kalibr.sh kalibr_calibrate_cameras \
  --bag /work/bags/cam_intrinsics.bag \
  --topics /usb_cam/image_raw \
  --models pinhole-radtan \
  --target /work/tools/kalibr/config/aprilgrid_6x6_80x30.yaml

Output: camchain-cam_intrinsics.yaml

4) Prepare IMU noise config

Edit tools/kalibr/config/imu.yaml and fill real Allan-variance noise values.

5) Calibrate camera-IMU extrinsics

bash tools/kalibr/run_kalibr.sh kalibr_calibrate_imu_camera \
  --bag /work/bags/imucam.bag \
  --cam /work/camchain-cam_intrinsics.yaml \
  --imu /work/tools/kalibr/config/imu.yaml \
  --target /work/tools/kalibr/config/aprilgrid_6x6_80x30.yaml

Output: camchain-imucam.yaml

6) Get ORB-SLAM calibration matrix

python3 tools/kalibr/extract_orbslam_tbc.py camchain-imucam.yaml

Copy the printed matrix into both keys in src/orb_slam3_ros2/config/webcamera.yaml:

• IMU.T_b_c1
• Tbc

Notes

• If Kalibr cannot read your ROS 2 bag directly, convert it to ROS1 bag format first.
• Ensure the topic names passed to Kalibr exactly match your recorded bag topics.

Build using bridge_stonefish

# Source ROS 2 environment
source /opt/ros/jazzy/setup.bash

# Build packages
colcon build \
    --packages-select interfaces bringup mission_executor bridge_stonefish Stonefish stonefish_ros2 detection_mocker joy sdl2_vendor

# Source the workspace
source install/setup.bash

Simulate Missions using bridge_stonefish

# Note:
# - For `env_file_name:=pool_env.scn`, the launch script auto-selects the
#   matching pool scenario wrapper for the chosen AUV.
# - `auv_file_name` is optional and only needed as a manual override.

# proteus, prequalify mission
ros2 launch bringup stonefish.launch.py \
    mission_name:=prequalify \
    auv_name:=proteus \
    env_file_name:=proteus_env.scn \
    headless:=false

# hydrus, prequalify mission
ros2 launch bringup stonefish.launch.py \
    mission_name:=prequalify \
    auv_name:=hydrus \
    env_file_name:=hydrus_env.scn \
    headless:=false

# proteus, teleop mission
# if you don't have xterm, set TERMINAL to your terminal or install xterm.
# sudo apt install xterm
# sudo dnf install xterm
ros2 launch bringup stonefish.launch.py \
    mission_name:=teleop \
    auv_name:=proteus \
    env_file_name:=proteus_env.scn \
    headless:=false

# bluerov2, teleop mission
ros2 launch bringup stonefish.launch.py \
  mission_name:=teleop \
  auv_name:=bluerov2 \
  env_file_name:=pool_env.scn \
  headless:=false

# optional manual override (advanced)
ros2 launch bringup stonefish.launch.py \
  mission_name:=teleop \
  auv_name:=bluerov2 \
  env_file_name:=pool_env.scn \
  auv_file_name:=bluerov2.scn \
  headless:=false

# bluerov2 direct actuator sanity test
# Use stonefish_only so mission_executor does not overwrite the direct command.
ros2 launch bringup stonefish.launch.py \
  mission_name:=teleop \
  auv_name:=bluerov2 \
  env_file_name:=pool_env.scn \
  headless:=false \
  stonefish_only:=true

# In another terminal, publish 8 normalized thruster values.
source install/setup.bash

# Equal horizontal commands cancel on this angled layout; this pattern drives body +X.
ros2 topic pub -r 10 /bridge/thrusters std_msgs/msg/Float64MultiArray \
  "{data: [-0.6, -0.6, 0.6, 0.6, 0.0, 0.0, 0.0, 0.0]}"

# Watch Stonefish's actuator feedback.
ros2 topic echo /bridge/thruster_state

Build & Run proteus using bridge_hardware

Build

# Source ROS 2 environment
source /opt/ros/jazzy/setup.bash

# Build packages
colcon build \
  --packages-select interfaces bringup mission_executor bridge_hardware vectornav vectornav_msgs \
  --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON

Run with real Arduino

# Source workspace after build
source install/setup.bash

# Launch full hardware stack
ros2 launch bringup hardware_proteus.launch.py \
  mission_name:=prequalify \
  arduino_port:=/dev/ttyACM0 \
  arduino_baud_rate:=115200

# Or run bridge node directly
ros2 run bridge_hardware bridge_proteus_node --ros-args \
  -p arduino_port:=/dev/ttyACM0 \
  -p arduino_baud_rate:=115200

Arduino CLI (real board)

1. Install AVR board support and Servo library dependency

arduino-cli core update-index
arduino-cli core install arduino:avr
arduino-cli lib install Servo

2. Compile and upload Proteus firmware

arduino-cli compile --fqbn arduino:avr:uno arduino/sketches/Proteus
arduino-cli upload -p /dev/ttyACM0 --fqbn arduino:avr:uno arduino/sketches/Proteus

Mock Arduino test

1. Create connected virtual serial ports

rm -f /tmp/ttyMOCK /tmp/ttyBRIDGE /tmp/socat_pair.log
socat -d -d \
  pty,raw,echo=0,link=/tmp/ttyMOCK \
  pty,raw,echo=0,link=/tmp/ttyBRIDGE \
  2>&1 | tee /tmp/socat_pair.log

2. Start mock Arduino (new terminal)

python3 tools/mock_arduino.py /tmp/ttyMOCK 115200

3. Start bridge_hardware with virtual bridge port (new terminal)

source install/setup.bash
ros2 run bridge_hardware bridge_proteus_node --ros-args \
  -p arduino_port:=/tmp/ttyBRIDGE \
  -p arduino_baud_rate:=115200

4. Publish thruster commands (new terminal)

source install/setup.bash
ros2 topic pub -r 10 /bridge/thrusters std_msgs/msg/Float64MultiArray "{data: [0.45, -0.25, 0.15, -0.15, 0.05, -0.05]}"