Clean dependencies, simple install

Author: jinkunw

INSTALL.md

@@ -1,15 +1,14 @@
 # Installation
 
-## Dependencies
-
 ```
-sudo apt-get install socat
+rosdep install --from-paths src --ignore-src -r -y
 
-#sudo apt-get install python-pip
-sudo pip install catkin_tools mavproxy pymavlink
+# MAVProxy and QGroundControl will automatically be installed when calling
+# rosrun bluerov_launch mavproxy.sh
+# rosrun bluerov_launch qgc.sh
 ```
 
-## Build workspace
+# Build workspace
 
 ```
 $ mkdir -p WORKSPACE/src
@@ -19,6 +18,18 @@ $ catkin config --merge-devel
 $ catkin config --cmake-args -DCMAKE_BUILD_TYPE=Releas
 ```
 
+# Manual installation
+
+## Dependencies
+
+```
+#sudo apt-get install python-pip
+sudo pip install catkin_tools mavproxy pymavlink scipy
+
+# install ROS dependencies
+sudo apt-get install ros-DISTRO-joy ros-DISTRO-cv-bridge
+```
+
 ## QGroundControl
 
 Before installing QGroundControl for the first time:

bar30_depth/CMakeLists.txt

@@ -4,6 +4,7 @@ project(bar30_depth)
 find_package(catkin REQUIRED COMPONENTS
   rospy
   std_msgs
+  bluerov_bridge
   message_generation
 )
 

bar30_depth/package.xml

@@ -10,4 +10,5 @@
     <buildtool_depend>catkin</buildtool_depend>
 
     <depend>rospy</depend>
+    <depend>bluerov_bridge</depend>
 </package>

bar30_depth/scripts/bar30_depth_node.py

@@ -1,10 +1,11 @@
 #!/usr/bin/env python
 import sys
 import socket
-from pymavlink import mavutil
 import rospy
 from bar30_depth.msg import Depth
 
+from bluerov_bridge import Bridge
+
 FLUID_DENSITY = {'fresh': 9.97, 'salt': 10.29}
 
 if __name__ == '__main__':
@@ -14,8 +15,7 @@
 
     while not rospy.is_shutdown():
         try:
-            conn = mavutil.mavlink_connection(
-                device, write=False, autoreconnect=True)
+            bridge = Bridge(device, write=False)
         except socket.error:
             rospy.logerr(
                 'Failed to make mavlink connection to device {}'.format(
@@ -26,20 +26,12 @@
     if rospy.is_shutdown():
         sys.exit(-1)
 
-    while not rospy.is_shutdown():
-        msg = conn.recv_match()
-        if msg is not None:
-            rospy.loginfo('Connected to device {}'.format(device))
-            break
-        else:
-            rospy.sleep(1.0)
-    if rospy.is_shutdown():
-        sys.exit(-1)
+    bridge.update()
 
     depth_pub = rospy.Publisher('/bar30/depth/raw', Depth, queue_size=10)
     rate = rospy.Rate(100)
     while not rospy.is_shutdown():
-        msg = conn.recv_match(type='SCALED_PRESSURE2')
+        msg = bridge.get_msg(type='SCALED_PRESSURE2')
         if msg is not None:
             d = Depth()
             d.header.stamp = rospy.Time.now()

bluerov/package.xml

@@ -12,4 +12,5 @@
     <url type="repository">https://github.com/RobustFieldAutonomyLab/bluerov</url>
 
     <buildtool_depend>catkin</buildtool_depend>
+    <depend>python-catkin-tools</depend>
 </package>

bluerov_bridge/package.xml

@@ -9,4 +9,5 @@
 
   <buildtool_depend>catkin</buildtool_depend>
   <depend>rospy</depend>
+  <depend>python-pymavlink</depend>
 </package>

bluerov_bridge/src/bluerov_bridge/bridge.py

@@ -26,6 +26,14 @@ def get_data(self):
             TYPE: Dict
         """
         return self.data
+    
+    def get_msg(self, type):
+        """ Return msg
+
+        Returns:
+            TYPE: Dict
+        """
+        return self.conn.recv_match(type)
 
     def get_all_msgs(self):
         """ Return all mavlink messages

bluerov_launch/CMakeLists.txt

@@ -2,11 +2,6 @@ cmake_minimum_required(VERSION 2.8.3)
 project(bluerov_launch)
 
 find_package(catkin REQUIRED COMPONENTS
-  bar30_depth
-  bluerov_control
-  rti_dvl
-  sonar_oculus
-  imu_vn_100
 )
 
 catkin_package()

bluerov_launch/package.xml

@@ -13,4 +13,9 @@
     <depend>sonar_oculus</depend>
     <depend>rti_dvl</depend>
     <depend>imu_vn_100</depend>
+
+    <depend>socat</depend>
+    <!-- <depend>python-MAVProxy</depend> -->
+    <depend>python-pymavlink</depend>
+    <depend>cv_bridge</depend>
 </package>

bluerov_launch/scripts/mavproxy.sh

@@ -5,4 +5,10 @@
 # 14553 - control
 # 14554 - dashboard
 
+if [ ! -f "/usr/local/bin/mavproxy.py" ]; then
+    echo "MAVProxy not found..."
+    echo "Install MAVProxy..."
+    sudo pip install MAVProxy
+fi
+
 python /usr/local/bin/mavproxy.py --master=udp:192.168.2.1:14550 --out=udp:192.168.2.1:14551 --out=udp:192.168.2.1:14552 --out=udp:192.168.2.1:14553 --out=udp:192.168.2.1:14554 --speech