Installing Dependencies - Weber-State-Submarine-Project/Submarine GitHub Wiki

ESC Motors Libraries

pip3 install adafruit-circuitpython-servokit

Orientation Node Libraries

pip3 install RPi.GPIO
pip3 install adafruit-circuitpython-bno08x
pip3 install Adafruit-Blinka

Sonar Sensors

pip3 install brping
pip3 install numpy
pip3 install pyserial

Speed Controller Node Library (OUTDATED)

pip install RPi.GPIO

Core Simulation and Visualization

• ros_gz_sim: Integration between ROS 2 and Gazebo.
• rviz2: Visualization tool for ROS 2.

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Behavior Trees

• BehaviorTree.CPP: Framework for designing and running behavior trees.
• BehaviorTree.ROS2: ROS 2 integration for BehaviorTree.CPP.

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Navigation and Localization

• ros-jazzy-nav2-msgs: Navigation 2 message definitions.
• ros-jazzy-nav2-util: Utilities for Navigation 2.
• ros-jazzy-robot-localization: Package for state estimation.
• ros-jazzy-slam-toolbox: SLAM for simultaneous localization and mapping.

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OctoMap Integration

ros-jazzy-octomap: Ros Octomap integration

• octomap_server: ROS server for OctoMap.
• ros-jazzy-octomap-msgs: ROS message definitions for OctoMap.
• liboctomap-dev: OctoMap development libraries.

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Bridges and Communication

• ros-jazzy-rosbridge-server: Provides JSON API for ROS.
• ros-jazzy-ros-gz-bridge: Bridges between ROS 2 and Gazebo.
• libzmq3-dev: ZeroMQ development library.

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Perception and Point Clouds

• libpcl-dev: Point Cloud Library development files.

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Other ROS Packages

• robot_state_publisher: Publishes transforms from URDF to TF2.
• generate-parameters: Generates parameters required for robot interaction
• foxglove-bridge: Foxglove Ros2 API connection
• sdformat_urdf: Reformats SDF as URDF

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