Welcome to LSA’s Platypus Boat guides

About the Boats

Autonomous Systems Laboratory - PUCRS

This documment written by LSA describes the procedure to configure and use Platypus boats. LSA has three boats: two airboats and a prop boat. They are used for water monitoring and disaster mitigation applications.

Summary

• Getting Started
  • Bill of Materials
    • Mandatory Resources
    • Optional Resources
• ROS Quick Start Tutorials
  • ROS Background
    • Lecture 1: Start a ROS Master Node
    • Lecture 2: Understanding ROS Topics, Nodes and Messages
    • Review Questions
    • Online Test
  • ROS Programming Basics
    • Lecture 1: ROS Publisher and Subscribers in C++ and Python
    • Review Questions
    • Lecture 2: ROS Services in C++ and Python
  • Turtlesim Cleaning Application
    • Lecture 1: Introducing the Cleaning Application
    • Lecture 2: Moving in a Straight Line
    • Lecture 3: Rotating Left and Right
    • Lecture 4: Go to Goal Location (PID Controller)
    • Lecture 5: Grid and Spiral Cleaning Application
    • Review Questions
    • Do-It-Yourself
• GAMS/MADARA Quick Start Tutorials
  • GAMS/MADARA Background
    • Coordinate systems
  • GAMS/MADARA Algorithms
    • Waypoints
    • Random Area Coverage
    • Snake Area Region Coverage
  • GAMS/MADARA Project manipulation
    • Creating a project
    • Creating algorithms
    • Creating threads (algorithms)
    • Creating threads (platforms)
    • Adding more agents into simulation
    • Killing broken V-REP
    • Creating plataforms
    • DEBUG LOG LEVELS
  • GAMS/MADARA Programming Basics
    • Printing into agent terminal window
    • Creating an consumer/producer application
  • GAMS/MADARA Compilation
    • GAMS/MADARA on a Linux Destop
    • GAMS/MADARA on a Raspberry Pi
    • GAMS/MADARA on an Android Phone
  • GAMS/MADARA Simulation
• Raspberry Pi
  • Image Handling
    • Download OS
    • Write the Image using Windows
    • Write the Image using Linux
    • Expand the Image Size to Match the SDCard Size
    • Backing Up an Image File
  • Setting Up the OS
  • Installing ROS
    • About ROS
    • How to install the driver and its depedencies
    • Known limitations
    • How to test it
  • Installing GAMS/MADARA
    • About GAMS/MADARA
    • How to install the driver and its depedencies
    • GAMS/MADARA working with ROS
    • Known limitations
    • How to test it
  • Hooking Up Peripherals to the Rpi board
    • Xbee radios
    • adafruit GPS
    • Emlid RTK GPS
    • IMU
    • Raspicam
    • Atlas water probes
    • Lowrance side scanner
    • Water sampling
    • Bullet M2
  • Setup Video streamming
  • Testing the Rpi
    • Possible Faults
• ODROID XU4
  • Download Image
  • Write the Image to the SDCard
  • Write the Image to the eMMC memory
    • Using eMMC Module Reader
    • Using Odroid and SDCard
  • Backing up Image from the eMMC memory
  • Setting Up ROS
  • Setting Up GAMS/Madara
  • Setting Up Peripherals
    • GPS
    • oCam-1MGN-U Global Shutter
    • Wifi
    • USB IO Board
• NVIDIA Jetsons Boards
  • Jetson TK1 Module
    • Hardware Specification
    • Installing JetPack L4T
    • Setting Up the OS
    • Post Installation
    • Cloning and Restoring Image
    • Installing ROS
  • Jetson TX2 Module
    • Hardware Specification
    • Installing JetPack L4T
    • Post Installation
    • Installing ROS
  • References
• Boat Configuration
  • Configure Tablet Emulator
    • Downloading and Installing the Emulator
    • Installing and Configuring Platypus Control
  • The Platypu`s EBoard
    • Hardware Description
    • Installing the Firmware
    • Testing
• Preparations for the Field Test
  • Before Packing up for the Field Test
  • Packing up for the test
  • On the test field
• LSA Contributors
• Boat Applications
  • Path Coverage
  • Boat Control
  • Beacon Based Localization

Disclaimer

The purpose of this document is for the use of LSA group only, but we open it in case it can be usefull for someone else. Thus, we dont fill obliged to give any technical support, although we might help in some special situations. In addition, we are not associated with Platypus LLC.

Everything you find here is without absolutly no waranty and I’m not responsible for any inconveniences or issues that might occurs.

Feedback

Don’t hesitate to ask about some additional info or next guides and also if you find some mistakes, please let me know. This can be done by submitting an issue or a push request on github.