OtterROS: Picking and Programming an Uncrewed Surface Vessel for Experimental Field Robotics Research with ROS 2
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866911849565388800 |
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| author | Sears, Thomas M. C. Cooper, M. Riley Button, Sabrina R. Marshall, Joshua A. |
| author_facet | Sears, Thomas M. C. Cooper, M. Riley Button, Sabrina R. Marshall, Joshua A. |
| contents | There exist a wide range of options for field robotics research using ground and aerial mobile robots, but there are comparatively few robust and research-ready uncrewed surface vessels (USVs). This workshop paper starts with a snapshot of USVs currently available to the research community and then describes "OtterROS", an open source ROS 2 solution for the Otter USV. Field experiments using OtterROS are described, which highlight the utility of the Otter USV and the benefits of using ROS 2 in aquatic robotics research. For those interested in USV research, the paper details recommended hardware to run OtterROS and includes an example ROS 2 package using OtterROS, removing unnecessary non-recurring engineering from field robotics research activities. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_05627 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | OtterROS: Picking and Programming an Uncrewed Surface Vessel for Experimental Field Robotics Research with ROS 2 Sears, Thomas M. C. Cooper, M. Riley Button, Sabrina R. Marshall, Joshua A. Robotics Systems and Control There exist a wide range of options for field robotics research using ground and aerial mobile robots, but there are comparatively few robust and research-ready uncrewed surface vessels (USVs). This workshop paper starts with a snapshot of USVs currently available to the research community and then describes "OtterROS", an open source ROS 2 solution for the Otter USV. Field experiments using OtterROS are described, which highlight the utility of the Otter USV and the benefits of using ROS 2 in aquatic robotics research. For those interested in USV research, the paper details recommended hardware to run OtterROS and includes an example ROS 2 package using OtterROS, removing unnecessary non-recurring engineering from field robotics research activities. |
| title | OtterROS: Picking and Programming an Uncrewed Surface Vessel for Experimental Field Robotics Research with ROS 2 |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2404.05627 |