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Operations Guide

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John McConnell edited this page Feb 9, 2023 · 15 revisions

This document serves as guide to using the platform in the field. Please note that "item N" refers to the attached refernce image.

Short Pre-deployment checklist:

This checklist is to be completed before the BlueROV is placed in the water. This checklist is to be completed by exactly two people. One person checking the unit, with another verifying the others' work. A printable version can be found here.

  1. Verify navigation power supply is in the OFF position (item #4 rotated counter clockwise) and batteries are not plugged in
  2. All thrusters are properly attached
  3. The forward end of each bottle, ensure that it is tightly closed
  4. All bottles are properly attached to the frame
  5. All bolts are tight around the frame
  6. Skids are free of damage
  7. All sensor mountings are tight
  8. Lifting sling is properly attached
  9. Tether is properly mounted to frame
  10. Check battery voltage, recommended starting voltage is anywhere above 15 volts.
  11. Complete unit startup checklist
  12. Check main bottle seal and main bottle vent, item #1
  13. Check main battery bottle seal and vent, item #2
  14. Check navigation bottle seal and vent, item #3
  15. Check navigation battery bottle seal and vent, item #5
  16. Verify deployment area to be free of underwater obstructions
  17. Deploy the unit
  18. Complete mission, recover
  19. Perform a fresh water rinse before opening pressure vessels
  20. Power down by completing "power down checklist"

Unit Startup Checklist

  1. Connect power on main bottle and close the main battery bottle. There will be an audible tone on startup. Insert main battery bottle vent, item #2.
  2. Verify that the navigation bottle power switch (item #4) is in the off position (rotated counter-clockwise). Connect navigation bottle power and close navigation battery bottle. Insert navigation battery bottle vent, item #5.
  3. Connect tether reel jumper line to interface box, connect interface box USB to surface computer.
  4. Turn navigation bottle power switch (item #4) to the on position by rotating counter clockwise. You should see a small light on the Jetson and the Ethernet hub. The DVL will start pinging after about 10 seconds. Note that acoustic sensors should not be run for more that 5 minutes in air.
  5. SSH in to the jetson using the command, the password is 123
ssh rov2@192.168.2.10
  1. Navigate to the desktop and call the start script. This shell script will set all parameters and call the roslaunch file for all sensors. You can edit this launch file in the code repo on the desktop.
./start.sh
  1. Verify clean startup, check for errors on rov2 terminal. You should hear the DVL stop, then start pinging again.
  2. Call the launch file on the surface computer.
  3. Proceed with the remaining items in the short pre-deployment checklist starting at line 12.

Software test

  1. SSH into Jetson
ssh rov2@192.168.2.8
  • Wait for DVL to start pinging. This may take up to one minute
  1. Call start shell script onboard the jetson
./start.sh
  • Check connections. Ensure that both the M750d and 1200d log "Connected!" when they start up.
  • Wait for DVL
  1. Launch bluerov on the surface computer
roslaunch bluerov_launch SurfaceComputer.launch
  1. Check Sensor Topics rostopic echo
  • /gyro
  • /sonar_oculus_node/M750d/ping
  • /sonar_oculus_node/M1200d/ping
  • /vector_nav/IMU
  • /rti/body_velocity/raw
  • /bar30/depth/raw
  1. Open QGroundControl
  • Establish communication: 53 - connect commlinks
  • Calibrate pressure sensor
  • Verify depth hold mode. NEVER EVER ARM THE VEHICLE IN MANUAL MODE
  1. Launch sonar SLAM
  • Run oculus viewer
rosrun sonar_oculus oculus_viewer.py M750d
rosrun sonar_oculus oculus_viewer.py M1200d
  • Reconfigure sonar parameters
rosrun rqt_reconfigure rqt_reconfigure
  • Launch SLAM
roslaunch bruce_slam slam.launch

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