This guide outlines the steps to set up and operate the autonomous pool mapping system.

1. Ensure that:

   • The Lipo batteries and laptop are fully charged or powered.
   • Both devices are connected to the same Wi-Fi network.

2. Have the following components ready:

   • Laptop
   • Autonomous boat (with Raspberry Pi and peripherals)
   • Power sources for Raspberry Pi and motors

Follow these steps to set up Foxglove for monitoring and controlling the boat:

1. Power up the laptop.
2. Open Google Chrome and navigate to Foxglove.dev.
3. Open a WebSocket connection to the Raspberry Pi by entering the following in Foxglove:

   ws://<ip_of_pi>:8765
   
   

Follow these steps to set up the boat for operation:

1. Prepare USB Ports:
   Unplug all USB devices to ensure they can be connected in the correct order.

2. Power On:
   Turn on the Raspberry Pi and the motor power source.

3. Wi-Fi Check:
   Verify that both the Raspberry Pi and the laptop are connected to the same Wi-Fi network.

4. Obtain Raspberry Pi IP:
   Retrieve the IP address of the Raspberry Pi if not already known.

5. SSH into Raspberry Pi:
   Open a terminal on the laptop and connect to the Raspberry Pi using:

   ssh submarine@<ip_of_pi>
   

6. Navigate to Workspace:
   Change to the project workspace directory:

   cd ros_ws
   

7. Build Project: Ensure the workspace is built by running:

   colcon build
   

8. Step 8: Plug in USB Devices Connect USB devices in the following order:

• Ping2: Top-left USB port
• Left Sonar: Top-right USB port
• Down Sonar: Bottom-left USB port

9. Prepare the Boat

• Ensure the lid is securely shut.
• Place the boat in the water 0.5 to 2 meters from a wall, facing either the deep or shallow end.
• Align the boat so it is parallel with the wall.

10. Launch the Project from the laptop Start the ROS 2 launch file using:

ros2 launch ros2_sub sub_launch.py

11. System Initialization Wait a few seconds to ensure all systems initialize properly.

12. Start Mapping Wait for the user to initiate the mapping process via the Foxglove website.

Simply press the "Start" button in foxglove and monitor the boat and foxglove.