Pooltest

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

Anti-leak procedure:

• Be careful sealing the lid
• 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-2024/Docker/jetson.
./generate_udev_rules.sh
# If it isn't, then it's an electrical problem.```