Easys_ros

Easys is an open source under water robot. This repository contains hardware and software source(ROS2).

→ Document Page

→ ICRA2024 Stand-alone Video

※ Currently working on an improved version!

• Add odometry function
• Miniaturization of circuits
• Change to fisheye camera
• improve pressure-resistant cap

Hardware

3D model

Manufacturing Instruction

• English ver
• 日本語

Software

Environment

• raspberry pi4 (higher than 4Gb RAM)
• ubuntu 22.04
• ROS2 humble

Installation

cd (your workspace)/src
git clone https://github.com/tamago117/Easys_ros.git
colcon build --symlink-install

Usage

# robot terminal
ros2 launch Easys_ros Easys_control.launch.py

# remote PC terminal
ros2 launch Easys_ros remote_control.launch.py

Simulator

Easys_sim