Pooltest - mcgill-robotics/AUV-2025 GitHub Wiki

Checklist:

  • Tether
  • Router
  • Extension cord
  • Powerwire
  • Ethernet wire
  • Multimeter
  • Batteries inside the battery bags
  • Charger for the batteries
  • Towels (for human and Dougie)
  • O-ring grease
  • electrical tape
  • Gopro
  • Props

Anti-leak procedure:

  • Be careful sealing the lid
  • Close the latches in opposite pairs such that the pressure on the o-ring remains even
  • Use gloves to apply the o-ring grease.
  • Submerge the AUV (power off) and be really alert checking for bubbles (especially around the lid - corners in particular). ** If there are no bubbles, move it around a bit
  • Take the AUV out after a couple of minutes and completely pat it dry (there will be water under the foam topper, but just be careful while lifting the lid)
  • Be careful to keep the lid flat while lifting & have someone watching for drips
  • Inspect for leaks

Software Commands for Drytest

git status
# If git status says that you are on noetic branch, then skip the next command.
git checkout noetic
# Update the AUV repository.
git pull
# After plugging in the router, connect to the AUV network through your computer Wifi configurations.
# Now you can connect to the jetson (might also need to try 192.168.0.101 or 192.168.0.102...)
ssh [email protected]
# If it times out, then the router is not plugged in correctly or the jetson is not turned on.
# If it doesn't time out, it will ask for a password.
jetson
# Now you are connected to the jetson.
# To check if any docker containers are running
docker ps
# If there aren't any docker containers, run these two commands
cd ~/AUV-2025/Docker/jetson
docker compose up
# On a new terminal window, ssh into jetson again.
# This time, if you run docker ps on the new window, you will see a container.
# If the first docker ps returns a container, skip the previous steps and continue from here.
# The name of the container should be used in the following command.
docker exec -it [name of the container] bash
# To run dry test
roslaunch propulsion drytest.launch
# To run sensors status
roslaunch sensors sensors.launch
# If there is a problem with one of the sensors, make sure that the jetson can see them by running.
ls /dev/[name_of_sensor]*
# If it can't find, check /dev/tty* and see if it's there.
# If it is, then run the udev rules script in /AUV-2025/Docker/jetson.
./generate_udev_rules.sh
# If it isn't, then it's an electrical problem.

Troubleshooting

If you encounter the error "Connection refused" when ssh-ing into the jetson, it could be due to the wrong IP address. Run ifconfig on the jetson and look for the IP that starts with 192.168... Try ssh using this address.