The base software of the Stinger Tug has the primary purpose of enabling easy interaction with the robot in a manner similar to Turtlebots and other introductory robotic vehicles. The robotics middleware will be ROS 2 Jazzy Jalisco, the latest release LTS release of ROS 2.

https://github.com/gt-marine-robotics-group/stinger-software

Software Architecture

The primary Stinger software will be simple with only a custom bringup, description, and autonomy package. The majority of code written by users will be in the stinger_autonomy package.

bringup

The stinger_bringup package is a minimal Python ROS package containing mostly default config files, launch scripts, and declaring package dependencies for basic functions.

description

The stinger_description package is a ROS package containing the files describing the physical parameters of the robot.

autonomy

The stinger_autonomy package is a ROS package containing the scaffold code for implementing basic autonomy functions in the vehicle. Programs to implement will include:

• Object detection
  • Service
  • Using the camera
• Navigator go_to_state or move_base
  • Node
  • Obstacle avoidance
    • Using the LIDAR
• Autonomous decision making
  • Using a simple finite state machine

Drivers

Slamtec RPLIDAR C1

Driver exists, needs to be built from source: https://github.com/Slamtec/rplidar_ros/tree/ros2