RoboSub 2023

[cbrxyz]

RoboSub 2023

Welcome to the master issue for the RoboSub 2023 tournament, hosted in Southern California from July 31 - August 6. Below are the individual issues that need to be completed to prepare for the tournament.

Sensors and Devices

Below are the individual issues that need to be completed regarding individual sensors and devices that interface with SubjuGator 8 and SubjuGator 9.

SubjuGator 8

DVL

IMU

Cameras

Depth Sensor

SubjuGator 9

DVL

• Develop DVL driver for Subjugator 9 DVL: Wayfinder DVL #966

IMU

Warning
The IMU has not yet been chosen for Sub9.

Cameras

Warning
The cameras have not yet arrived for Sub9.

Depth Sensor

Passive Sonar / Hydrophones

• Add documentation on Passive Sonar mathematics #972

Active Sonar

• Write basic documentation on how to use active sonar #1036

Board Interfaces

• Develop interface to Sub8 Thrust/Kill Board using new mil_usb_to_can package #971

PreFlight

• Develop basic checklist for software systems using PreFlight #1032

Alarming and Kill

• Separating messages and services from ros_alarms #968

Simulation Improvements

• Implement DAVE simulation environment #979
• Update start gate Gazebo model to match competition model #981
• Add G-Man/Bootlegger images to simulated buoys #1005
• Add bins into SubjuGator Gazebo simulation #1009
• Add DHD table into SubjuGator simulation #1024
• Add chevrons into SubjuGator simulation #1025

Odometry Estimator

• Determine how to remove measurements from DVL from odometry estimator #1028

Thrust Mapper

Vision and Perception

Note that several tasks have vision-specific subtasks that may also be of interest!

• Add documentation on training YOLO models #884
• Implement underwater vision enhancement system #980
• Develop Python library to YOLOv7 interface #1030

Movement

• Create/find package for SubjuGator keyboard control #999

Code Cleanup

• Removal of IndyAV code from deprecated folder #969
• Develop basic checklist for software systems using PreFlight #1032

Network Box

• Add documentation on quickly replacing Network Box #970

Sub8/Sub9 Interoperability

• Separating sub8 and sub9 namespaces in ROS #975
• Add support for spawning Sub8 and Sub9 in the same Gazebo simulator #976

RoboSub 2022 Missions

Task 1: Coin Flip

• Factor in external compass when moving through start gate #992

Task 2: Start Gate

• Complete 2023 Start Gate mission using object detection #977
• Add logic to Start Gate mission to choose side based on placard #985

Task 3: Path Marker

• Develop orange path marker finder #978

Task 4: Buoy

• Develop vision pipeline to find G-Man/Bootlegger buoy images #1014

Task 5: Bins

• Develop Python library to YOLOv7 interface #1030
• Start gate logic #1031

Task 6: Torpedoes

Task 7: Octagon

Task 8: Octagon Placement

Hardware Configuration

Team Website

• Remove old sections from MIL website #987
• Choose new theme for MIL website #988

Team Paper