This page contains information relating to ROSSerial (ROS 1). As of September 2025, our team has fully migrated from ROSSerial (ROS 1) to micro-ROS (ROS 2). All new code contributions must use the micro-ROS library. Support for rosserial has been deprecated and will not be merged into the main branch.

This guide will walk you through running the thrusters without the Jetson. These steps were tested on Windows 11. Docker on MacOS will likely have a similar procedure, but it has not yet been tested.

Prerequisites

• ROS Noetic on WSL with Ubuntu 20.04 (look at the other tutorials for this)
• Electrical setup with power supply / batteries - please speak with a lead first

1. Open WSL

2. Add the main repository into WSL

   • Add the AUV-2025 repository to your WSL environment
   • git clone and copy the folder into your WSL environment
   • or install git and git clone the repo directly in WSL

3. List USB Devices

   • Open an elevated terminal and type:

     usbipd list

   • Identify the <busid> of the USB device you want to connect to Ubuntu.
   • In my case: USB Serial Device (COM4), USB Serial

4. Bind USB Device to WSL

   • Run the following command to bind the USB device to WSL:

     usbipd bind --busid <busid>

   • Example:

     usbipd bind --busid 4-4

5. Attach USB Device to WSL

   • To attach the USB device to your WSL instance, use:

     usbipd attach --wsl --busid <busid>

6. Verify USB Connection in Ubuntu

   • In your Ubuntu terminal, type:

     lsusb

   • This command will list the USB devices connected to your Ubuntu environment.

7. Install packages

   • In your Ubuntu terminal, type:

     sudo apt-get update
     sudo apt-get install python3-catkin-tools
     sudo apt-get install -y build-essential
     sudo apt install python3-pip
     pip install keyboard

8. Build and launch

   1. cd into /AUV-2025/catkin_ws
   2. source devel/setup.bash
   3. catkin build
   4. roslaunch propulsion drytest.launch port:=/dev/ttyACM0