http://robosub-vm.eecs.wsu.edu/wiki/ 2026-04-03T12:22:49-0700 http://robosub-vm.eecs.wsu.edu/wiki/ http://robosub-vm.eecs.wsu.edu/wiki/lib/tpl/codowik/images/favicon.ico text/html 2022-09-29T20:48:40-0700 Justin Pilgrim (jpilgrim@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/start?rev=1664509720&do=diff Home Welcome to the Technical Documentation for Palouse RoboSub Please place any write-access requests in the IT slack channel Main Pages: Computer Science Programming Documentation Electrical Engineering Microcontroller and Wiring Documentation Mechanical Engineering Hardware Documentation text/html 2022-09-29T20:48:06-0700 Justin Pilgrim (jpilgrim@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/cs/cameras/start?rev=1664509686&do=diff Cameras Overview * The cameras that we use for the sub are Point Grey Flea3 GigE Vision ethernet cameras. Specs and downloads are available here. Flea3 * The cameras come with an SDK which contains configuration software and programmable interfaces for the camera. You can access it on their website. text/html 2022-09-29T20:44:17-0700 Justin Pilgrim (jpilgrim@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/?image=bryant-koshu-mech-copy.jpg&ns=&rev=1664509457&tab_details=history&mediado=diff&do=media <img src="http://robosub-vm.eecs.wsu.edu/wiki/_media/bryant-koshu-mech-copy.jpg?w=500&h=500&t=1773479342&amp;tok=d059e1" alt="bryant-koshu-mech-copy.jpg" /> text/html 2022-09-22T19:27:35-0700 Justin Pilgrim (jpilgrim@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/cs/getting_started/focal?rev=1663900055&do=diff Foxy Prerequisite Software Setup This page needs modification and should not be used until it is completed The following instructions should be used if you are running a Ubuntu 20.04 (focal) derivative. sudo sh -c 'echo "deb http://robosub.eecs.wsu.edu/repo/ /" > /etc/apt/sources.list.d/robosub.list' wget http://robosub.eecs.wsu.edu/repo/repository_key -O - | sudo apt-key add - sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources.list.d/ros2-latest.list' wge… text/html 2022-09-22T18:57:36-0700 Justin Pilgrim (jpilgrim@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/cs/ai/start?rev=1663898256&do=diff AI Main function of AI on the sub is to make decisions of what the sub should do based on given data from topics like sensors, vision, data, etc. It is using hierarchical state machine, which allows it to cover majority of cases it will face. Overview text/html 2022-04-15T02:56:38-0700 Chris Nathman (cnathman@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/cs/networking/start?rev=1650016598&do=diff Networking This page describes the network setup on the sub. Right now our router has DHCP disabled, we use a raspberry pi hooked up to the network acting as a DHCP and DNS server. Devices Device Hostname Ethernet Addr IP Addr Main Computer text/html 2022-04-15T02:46:59-0700 Chris Nathman (cnathman@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/cs/simulator/bridge/start?rev=1650016019&do=diff Simulator Bridge The simulator bridge is ROS node which subscribes to the /gazebo/model_states message that gazebo publishes. The model states message (ModelStates) contains position, orientation, linear velocity, and angular velocity for each model in the simulator. This includes the sub, the top of the water, the start gate, the pinger, etc. The simulator bridge is responsible for taking the model states input and outputting the following information on the specified topics: text/html 2019-11-20T18:34:33-0700 Tom Schmitz (tschmitz@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/?image=ee%3Aboards%3Amaestro-adapter%3Amaestro-adapter-revc.pdf&ns=ee%3Aboards%3Amaestro-adapter&rev=1574303673&tab_details=history&mediado=diff&do=media text/html 2019-05-01T13:21:01-0700 Steve Hemm (shemm@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/?image=cs%3Aslam%3Aorb2.png&ns=cs%3Aslam&rev=1556742061&tab_details=history&mediado=diff&do=media <img src="http://robosub-vm.eecs.wsu.edu/wiki/_media/cs/slam/orb2.png?w=500&h=205&t=1556742061&amp;tok=4accc4" alt="cs:slam:orb2.png" /> text/html 2019-04-22T12:52:45-0700 Steve Hemm (shemm@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/?image=cs%3Aslam%3Aselection_005.png&ns=cs%3Aslam&rev=1555962765&tab_details=history&mediado=diff&do=media <img src="http://robosub-vm.eecs.wsu.edu/wiki/_media/cs/slam/selection_005.png?w=500&h=273&t=1555962765&amp;tok=508b6a" alt="cs:slam:selection_005.png" /> text/html 2019-04-22T12:29:09-0700 Steve Hemm (shemm@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/?image=cs%3Aslam%3Aselection_004.png&ns=cs%3Aslam&rev=1555961349&tab_details=history&mediado=diff&do=media <img src="http://robosub-vm.eecs.wsu.edu/wiki/_media/cs/slam/selection_004.png?w=500&h=378&t=1555961349&amp;tok=a74822" alt="cs:slam:selection_004.png" /> text/html 2019-04-22T12:28:49-0700 Steve Hemm (shemm@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/?image=cs%3Aslam%3Aselection_007.png&ns=cs%3Aslam&rev=1555961329&tab_details=history&mediado=diff&do=media <img src="http://robosub-vm.eecs.wsu.edu/wiki/_media/cs/slam/selection_007.png?w=500&h=385&t=1555961329&amp;tok=8b7ea0" alt="cs:slam:selection_007.png" /> text/html 2019-04-22T12:27:47-0700 Steve Hemm (shemm@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/?image=cs%3Aslam%3Aselection_008.png&ns=cs%3Aslam&rev=1555961267&tab_details=history&mediado=diff&do=media <img src="http://robosub-vm.eecs.wsu.edu/wiki/_media/cs/slam/selection_008.png?w=500&h=359&t=1555961267&amp;tok=1b5308" alt="cs:slam:selection_008.png" /> text/html 2019-02-21T18:52:37-0700 Chris Nathman (cnathman@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/?image=ee%3Ahydrophones%3Aas-1_hydrophone_dimensions.jpg&ns=ee%3Ahydrophones&rev=1550803957&tab_details=history&mediado=diff&do=media <img src="http://robosub-vm.eecs.wsu.edu/wiki/_media/ee/hydrophones/as-1_hydrophone_dimensions.jpg?w=500&h=374&t=1550803957&amp;tok=716336" alt="ee:hydrophones:as-1_hydrophone_dimensions.jpg" /> text/html 2018-12-04T20:03:15-0700 Ben Songras (bsongras@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/?image=ee%3Aboards%3Ahydrophone-adc%3Ahydrophone-adc_revc.pdf&ns=ee%3Aboards%3Ahydrophone-adc&rev=1543982595&tab_details=history&mediado=diff&do=media text/html 2018-12-04T19:52:06-0700 Ben Songras (bsongras@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/?image=ee%3Aboards%3Adepth-sensor%3Adepth-sensor_revb.pdf&ns=ee%3Aboards%3Adepth-sensor&rev=1543981926&tab_details=history&mediado=diff&do=media text/html 2018-12-04T19:48:55-0700 Ben Songras (bsongras@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/?image=ee%3Aboards%3Apneumatics%3Apneumatics_revb.pdf&ns=ee%3Aboards%3Apneumatics&rev=1543981735&tab_details=history&mediado=diff&do=media text/html 2018-11-05T19:01:55-0700 Brandon Kallaher (bkallaher@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/?image=logo.svg&ns=&rev=1541473315&tab_details=history&mediado=diff&do=media text/html 2018-03-28T10:54:32-0700 James Irwin (jirwin@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/?image=cs%3Avision%3Aobject_detection%3Aobject_detection_example.jpg&ns=cs%3Avision%3Aobject_detection&rev=1522259672&tab_details=history&mediado=diff&do=media <img src="http://robosub-vm.eecs.wsu.edu/wiki/_media/cs/vision/object_detection/object_detection_example.jpg?w=500&h=360&t=1522259672&amp;tok=fabdd2" alt="cs:vision:object_detection:object_detection_example.jpg" /> text/html 2018-03-22T13:03:06-0700 Mike Bykhovtsev (mbykhovtsev@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/?image=cs%3Avision%3Aimage_tagging%3Arobosub-windows-tools.zip&ns=cs%3Avision%3Aimage_tagging&rev=1521748986&tab_details=history&mediado=diff&do=media