Reference: https://github.com/gt-marine-robotics-group/ROS_Tutorial/tree/main

Phase 0: Prep & Connection

• Network: Connect your laptop to the GL-MT3000-0a9 Wi-Fi network (Password: boats0519).

• Power: Plug in the LiPo battery.

• Terminal 1: SSH into the robot using your team's static IP.

  ssh [email protected]

• Install Dependencies:

  sudo apt update && sudo apt install ros-humble-xacro ros-humble-foxglove-bridge

• Config Check: Verify ~/mrg/src/stinger_bringup/config/ekf.yaml contains:

  • use_sim_time: false
  • imu0: /stinger/imu/relative
  • two_d_mode: true

• Build & Source:

  cd ~/mrg colcon build --packages-select stinger_bringup source install/setup.bash

Phase 1: Static TF (Skeleton)

• Terminal 1:

  ros2 launch stinger_description spawn.launch.py gazebo:=False

• Terminal 2 (SSH & Source):

  ros2 run tf2_ros tf2_echo imu_link base_link

  • Pass: Continuous translation/rotation matrix.
  • Fail: "Waiting for transform". Press Ctrl+C to stop.

Phase 2: Sensor Health

Run these in Terminal 2 to verify raw hardware data.

• IMU:
  • ros2 run stinger_bringup imu-node
  • ros2 topic echo /stinger/imu/data --once
  • Pass: Non-zero values for orientation and angular velocity.
• GPS:
  • sudo chmod 666 /dev/serial0
  • ros2 run stinger_bringup gps-node
  • ros2 topic echo /gps/fix --once
  • Published Topic: Must be /gps/fix (Type: sensor_msgs/NavSatFix).
  • Lock Criteria: Check the status.status integer. * 0, 1, or 2 = Valid Lock (Satellite data is being received). * -1 = No Lock (Move antenna outside or near a window).
• LIDAR:
  • ros2 launch sllidar_ros2 sllidar_c1_launch.py
  • ros2 topic echo /stinger/laser/scan --once | grep ranges
  • Pass: Array contains distance numbers, not empty.
• Camera:
  • ros2 topic hz /stinger/camera_0/image_raw
  • Pass: Output is ~30Hz.

Phase 3: Dynamic TF (Brain)

• Terminal 3 (SSH & Source):

  ros2 launch stinger_bringup localization.launch.py

  • Pass: Terminal logs "SUCCESS: TF Transform found!"

• Terminal 2 (Frequency Check):

  ros2 topic hz /odometry/filtered

  • Pass: Output is ~30.0 Hz.