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 \
    libfreetype6-dev \
    libsdl2-dev \
    libglm-dev \
    libeigen3-dev \
    libogre-1.9-dev \
    libopencv-dev \
    libssl-dev \
    libboost-all-dev \
    libepoxy-dev \
    libtinyxml2-dev \
    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 ../../../../../

Test mission_executor

With GUI (local development)

# Navigate to the workspace
cd ~/ros2_ws/rumarino-ros2-jazzy

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

# Build packages
colcon build --packages-select interfaces bringup Stonefish stonefish_ros2 controller_stonefish  detection_mocker mission_executor

# Source the workspace
source install/setup.bash

# Run with GUI
ros2 launch bringup test_mission_executor.launch.py mission_name:=prequalify controller_name:=stonefish_hydrus env_file_name:=hydrus_env.scn

Thruster Teleop

Run simulator + teleop

# Terminal 1: launch simulator
source /opt/ros/jazzy/setup.bash
source install/setup.bash
ros2 launch controller_stonefish hydrussim.launch.py

# Terminal 2: run teleop controller
source /opt/ros/jazzy/setup.bash
source install/setup.bash
ros2 run controller_stonefish thruster_teleop

Keyboard controls

• w/s: increase/decrease x goal
• r/f: increase/decrease y goal
• q/e: increase/decrease z goal
• a/d: increase/decrease yaw goal
• x: hold current pose and reset PID history
• z: quit teleop

PS5 controller support

thruster_teleop subscribes to /joy (sensor_msgs/msg/Joy).

# Terminal 3 (if using a controller)
source /opt/ros/jazzy/setup.bash
source install/setup.bash
ros2 run joy joy_node

Default mapping in teleop:

• Left stick Y: x goal
• Left stick X: y goal
• Right stick X: yaw goal
• L1 / R1: z up / z down
• Cross: hold current pose
• Circle: quit

Use NVIDIA GPU for simulation

If you want to force NVIDIA offload for the simulator, run:

__NV_PRIME_RENDER_OFFLOAD=1 __GLX_VENDOR_LIBRARY_NAME=nvidia __VK_LAYER_NV_optimus=NVIDIA_only ros2 launch controller_stonefish hydrussim.launch.py

IMU VN100 test launch

source install/setup.bash
ros2 launch bringup vn100.launch.py port:=/dev/ttyUSB0 baud:=115200 

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

:

Building Orb Slam

cd vendor
wget https://github.com/UZ-SLAMLab/ORB_SLAM3/raw/refs/heads/master/Vocabulary/ORBvoc.txt.tar.gz
tar -xf ORBvoc.txt.tar.gz
git clone https://github.com/Cruiz102/ORB_SLAM3.git
#build everything with a single command
cd ORB_SLAM3
chmod +x build.sh
sudo ./build.sh