OtterROS: Picking and Programming an Uncrewed Surface Vessel for Experimental Field Robotics Research with ROS 2
OtterROS: Picking and Programming an Uncrewed Surface Vessel for Experimental Field Robotics Research with ROS 2
著者: Thomas M. C. Sears, M. Riley Cooper, Sabrina R. Button, Joshua A. Marshall
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
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.