Environment

Command list

• sa - start all the ros service on the auv(only on the babe).
• sv - start the vision system (only on the babe).
• sas - start all the proc, but the providers are simulated.
• sj - start the system on the jetson(only on the jetson).
• babe - remote connect to the auv.
• jetson - remote connect to the jetson.
• babe? - ping the babe.
• switch? - ping the switch.
• jetson? - ping the jetson.
• sonia-source - source the bash generated by catkin
• sonia-cd - put the current directory for the user at the sonia workspace.
• telemetry - open the general telemetry.
• controlSub - open the control telemety.
• dry_test - open the telemetry for a dry_test.
• pool - open the telemetry for pool test.
• comp - compile the project wherever you are, usage recommended instead of catkin_make.
• comp_reset - erase the compilation cache file before calling comp.
• swap_babe - swap the current target (local -> babe OR babe–>local).
• update-sonia-script - update the current .bash_sonia file.
• full_poof - shutdown the babe and the jetson.

Dry_test

1. connect to the babe with the babe command.
2. start the auv system with the sa command.
3. open a new terminal and connect to the babe.
4. start the vision with the sv command.
5. open a new terminal and change the current target with swap_babe command.
6. start the telemetry for a dry_test with the dry_test command.
7. execute the dry_test.

Test on the jetson

1. connect to the babe with the babe command.
2. start the auv system with the sa command.
3. open a new terminal and connect to the babe.
4. start the vision with the sv command.
5. open a new terminal and connect to the jetson with the jetson command.
6. start the system on the jetson with the sj command.
7. open a new terminal and change the current target with swap_babe command.
8. start the telemetry for the test with the pool command.
9. execute the test.

Pool test environment

1. connect to the babe with the babe command.
2. start the auv system with the sa command.
3. open a new terminal and connect to the babe.
4. start the vision with the sv command.
5. open a new terminal and change the current target with swap_babe command.
6. start the telemetry for the test with the pool command.
7. execute the test.

Mission planing interface

Test while simulating the environment

1. start the simulated auv system with sas
2. open a new terminal
3. start the telemetry for the test with the pool command.
4. execute the test.

Git tutorial

the team use git to work with github:

• A good git tutorial can be found on this site, it’s free but you need an account.
• A list of all the command can also be found on the official reference manual.

Linux tutorial

the team use linux for their developpement environment. A good knowledge of linux is necessary:

• A good tutorial about the command line can be found on this site, it’s free but you need an account.

C++ tutorial

the team use C++ for all their low level development:

• A good tutorial about C++ can be found here, only part 1 and 2 is necessary.

Python2 tutorial

the team use python2 for all their high level development:

• A good python tutorial can be found on the official site.

ROS tutorial

the team use ROS inside the sub to allow process to communicate between them:

• A good tutorial for the robot operating system can be found here

IDE

the S.O.N.I.A officially support jetbrains product, you can get them for free if you register with your ÉTS email at this site

the team use clion for c++:

the team use pycharm for python2: