short update on docs

Author: timzarhansen

BlueROV2/overview.md

@@ -15,4 +15,8 @@ Here is a general overview of the BlueROV2 robot that was modified at Constructo
 
 
 
-
+# Software Infos:
+Pi1: `[email protected]`
+Pi2: `[email protected]`
+px4: `[email protected]`
+DVL: `[email protected]`

Sensors/DVLA50.md

@@ -10,5 +10,5 @@ nav_order: 1
 ROS2 Driver: `[email protected]:constructor-robotics/waterlinked_a50.git`
 
 
-
+Ip address on BlueROV: 192.168.10.12
 

Sensors/overview.md

@@ -18,15 +18,28 @@ plugged in.
 
 In order to do this we have to follow the next steps:
 
-- List attributes for device:
-  `udevadm info --name=/dev/ttyUSBx --attribute-walk` - where x is a number matching your device port.
-- In the attributes list look out for the attributes that is unique for each device (e.g. `idVendor`, `idProduct`)
+- List attributes for device with lsusb:
+  lsusb output looks like this:
+  `Bus 001 Device 005: ID **1234**:**5678** Some Device Name`
+  VENDOR_ID is the first four-digit hex number (1234 in this example). PRODUCT_ID is the second (5678).  Use those values (without "0x") in your udev rule.
 - If you found those attributes open (or create and open if it does not exist) the following file: `/etc/udev/rules.d/99-usb-serial.rules`
-- If the unique attributes were found, write a similar rule in the file we just opened: `SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6015", SYMLINK+="ping360"
+- If the unique attributes were found, write a similar rule in the file we just opened: `SUBSYSTEM=="tty", ATTRS{idVendor}=="1234", ATTRS{idProduct}=="5678", SYMLINK+="ping360"
   `. In this case, the command we used is specifically made for the Ping360 sonar from Blue Robotics)
 - Apply the rules: `sudo udevadm control --reload-rules && sudo udevadm trigger`
 - To check if rules were applied correctly execute: `ls /dev/ping360 -l`. In general cases, replace ping360 with the name
   inserted in the SYMLINK attribute of the created rule.
 - You should see a similar result:
 
-`lrwxrwxrwx 1 root root 7 Nov  2 12:49 /dev/ping360 -> ttyUSB0`
+`lrwxrwxrwx 1 root root 7 Nov  2 12:49 /dev/ping360 -> ttyUSB0`
+
+
+# Start bottom tube without ROS:
+```
+sudo pigpiod
+python3
+import pigpio
+resetPin = 18
+gpioPinSonar = pigpio.pi()
+gpioPinSonar.set_mode(resetPin, pigpio.OUTPUT)
+gpioPinSonar.write(resetPin, 1)
+```

_bashScripts/copyROSSoftwareToRPI4.sh

@@ -1,51 +1,45 @@
 #!/bin/bash
 
+# this script has to run from inside "bluerovws" by: source bashScripts/copyROSPackagesToBlueROV.sh
+# it copies the desired packages from your local setup to the pis. Ensure that ~/ros_ws/src exists on the pis
+
 copyFolder1_ws () {
-  ssh sensor_tube@$1 mkdir -p ros2_ws/src/$2
+#  ssh maintube@$1 mkdir -p ~/ros_ws/src/$2
 
-  rsync -avh ~/ros2_ws/src/$2/ sensor_tube@$1:~/ros2_ws/src/$2 --exclude=cmake-build-debug --exclude=build --exclude=.git --exclude=.idea --exclude=cmake-build-release --delete
+  rsync -avh src/$2/ maintube@$1:~/ros_ws/src/$2 --exclude=cmake-build-debug --exclude=build --exclude=.git --exclude=.idea --exclude=cmake-build-release --delete
 }
-copyFolder1_underlay () {
-  ssh sensor_tube@$1 mkdir -p ros2_underlay/src/$2
 
-  rsync -avh ~/ros2_underlay/src/$2/ sensor_tube@$1:~/ros2_underlay/src/$2 --exclude=cmake-build-debug --exclude=build --exclude=.git --exclude=.idea --exclude=cmake-build-release --delete
-}
 
 
 copyFolder2_ws () {
-  ssh toptube@$1 mkdir -p ros2_ws/src/$2
+#  ssh sensortube@$1 mkdir -p ~/ros_ws/src/$2
 
-  rsync -avh ~/ros2_ws/src/$2/ toptube@$1:~/ros2_ws/src/$2 --exclude=cmake-build-debug --exclude=build --exclude=.git --exclude=.idea --exclude=cmake-build-release --delete
+  rsync -avh src/$2/ sensortube@$1:~/ros_ws/src/$2 --exclude=cmake-build-debug --exclude=build --exclude=.git --exclude=.idea --exclude=cmake-build-release --delete
 }
-copyFolder2_underlay () {
-  ssh toptube@$1 mkdir -p ros2_underlay/src/$2
 
-  rsync -avh ~/ros2_underlay/src/$2/ toptube@$1:~/ros2_underlay/src/$2 --exclude=cmake-build-debug --exclude=build --exclude=.git --exclude=.idea --exclude=cmake-build-release --delete
-}
 
 
+#Main Tube
+IP_ADDRESS="192.168.10.2"
+
+copyFolder1_ws "$IP_ADDRESS" "bluerov2common"
+copyFolder1_ws "$IP_ADDRESS" "bluerov2commonmsgs"
+copyFolder1_ws "$IP_ADDRESS" "ping360_sonar_msgs"
+copyFolder1_ws "$IP_ADDRESS" "micron_driver_ros"
+copyFolder1_ws "$IP_ADDRESS" "px4_msgs"
+copyFolder1_ws "$IP_ADDRESS" "px4-ros2-interface-lib"
+copyFolder1_ws "$IP_ADDRESS" "waterlinked_a50"
+
+
+#Sensor Tube
+IP_ADDRESS="192.168.10.3"
 
-IP_ADDRESS="10.42.0.12"
-##IP_ADDRESS="192.168.0.193"
-##IP_ADDRESS="10.70.15.149"
-copyFolder1_ws "$IP_ADDRESS" "BlueROV2Common"
-#copyFolder1_underlay "$IP_ADDRESS" "bluespace_ai_xsens_ros_mti_driver"
-copyFolder1_underlay "$IP_ADDRESS" "commonBlueROVMSG"
-copyFolder1_underlay "$IP_ADDRESS" "ping360_sonar"
-copyFolder1_underlay "$IP_ADDRESS" "ping360_sonar_msgs"
-copyFolder1_underlay "$IP_ADDRESS" "px4_msgs"
-copyFolder1_underlay "$IP_ADDRESS" "waterlinked_a50_dvl_ros2"
-copyFolder1_ws "$IP_ADDRESS" "hippo_core"
-copyFolder1_underlay "$IP_ADDRESS" "Tritech-Micron-Driver"
-
-IP_ADDRESS="10.42.0.222"
-
-copyFolder2_ws "$IP_ADDRESS" "BlueROV2Common"
-#copyFolder2_underlay "$IP_ADDRESS" "bluespace_ai_xsens_ros_mti_driver"
-copyFolder2_underlay "$IP_ADDRESS" "commonBlueROVMSG"
-copyFolder2_ws "$IP_ADDRESS" "ros2_usb_camera"
-#copyFolder2_underlay "$IP_ADDRESS" "ping360_sonar"
-copyFolder2_underlay "$IP_ADDRESS" "ping360_sonar_msgs"
-copyFolder2_underlay "$IP_ADDRESS" "px4_msgs"
-#copyFolder2_underlay "$IP_ADDRESS" "waterlinked_a50_dvl_ros2"
-#copyFolder2_ws "$IP_ADDRESS" "hippo_core"
+copyFolder2_ws "$IP_ADDRESS" "bluerov2common"
+copyFolder2_ws "$IP_ADDRESS" "bluerov2commonmsgs"
+copyFolder2_ws "$IP_ADDRESS" "ping360_sonar_msgs"
+copyFolder2_ws "$IP_ADDRESS" "micron_driver_ros"
+copyFolder2_ws "$IP_ADDRESS" "px4_msgs"
+copyFolder2_ws "$IP_ADDRESS" "px4-ros2-interface-lib"
+copyFolder2_ws "$IP_ADDRESS" "waterlinked_a50"
+copyFolder2_ws "$IP_ADDRESS" "ping360_sonar"
+copyFolder2_ws "$IP_ADDRESS" "bluespace_ai_xsens_mti_driver"

_bashScripts/reinitializeAllSubmodulesGit.sh

@@ -0,0 +1,28 @@
+#!/bin/bash
+
+set -e
+echo "This script was written by AI"
+echo "Step 1: Deinitializing all submodules..."
+git submodule deinit -f --all
+
+echo "Step 2: Removing submodule paths from index..."
+SUBMODULE_PATHS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
+
+for path in $SUBMODULE_PATHS; do
+    echo "Removing $path"
+    git rm -f "$path"
+    rm -rf "$path"
+done
+
+echo "Step 3: Cleaning up .git/modules/..."
+rm -rf .git/modules/*
+
+echo "Step 4: Resetting to current branch..."
+CURRENT_BRANCH=$(git symbolic-ref --short HEAD)
+git checkout "$CURRENT_BRANCH" -- .gitmodules
+git reset --hard
+
+echo "Step 5: Reinitializing and updating submodules..."
+git submodule update --init --recursive --force
+
+echo "✅ Done. All submodules are reset to match the branch '$CURRENT_BRANCH'"

px4/software.md

@@ -15,7 +15,7 @@ This has to be fully tested in a docker container
 The modification of the PX4 software is located in bluerov2common ROS2 package (`[email protected]:constructor-robotics/bluerov2common.git`)
 
 
-
+Ip address on BlueROV: 192.168.10.11
 
 # PX4 Commands
 
@@ -51,6 +51,7 @@ echo DNS=1.1.1.1 >> /fs/microsd/net.cfg
 ```
 
 # Micro-XRCE-DDS-Agent Install
+In CMakeLists.txt change the 2.12.x to 2.12.1
 ```
 git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
 cd Micro-XRCE-DDS-Agent