A Master's thesis explaining the project and features of the Manta software is found in the docs folder: https://github.com/vortexntnu/manta-auv/blob/master/docs/master_thesis_manta_v1_kristoffer_solberg_compressed.pdf

Linux distributions such as Wily (Ubuntu 15.10), Xenial (Ubuntu 16.04) and Jessie (Debian 8)
C++ 11 compiler or newer.

Robot operating system (ROS) provides services designed for heterogeneous computer cluster such as hardware abstraction, low-level device control, implementation of commonly used functionality, message-passing between processes, and package management. The main ROS client libraries (C++, Python, and Lisp) are geared toward a Unix-like system, primarily because of their dependence on large collections of open-source software dependencies.

1. Setup your computer to accept software from packages.ros.org:

   $ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

2. Set up your keys:

   $ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

3. Update:

   $ sudo apt-get update
   

4. Installation:

   $ sudo apt-get install ros-kinetic-desktop-full

5. Before you can use ROS, you will need to initialize rosdep:

   $ sudo rosdep init
   $ rosdep update
   
   

6. Environment setup:

   $ echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
   $ source ~/.bashrc
   

Run the shell script for install dependencies:

```bash
$ sh install-prereq.sh

or install manually the remaining dependencies

1. Install the protobuf library, which is used as interface to Gazebo.:

   $ sudo apt-get install protobuf-compiler
   

2. Install rosbridge-server to interface with sensor and actuator drivers on the physical Manta.

   $ sudo apt-get install ros-kinetic-rosbridge-server
   

3. Install tf. tf is a package that lets the user keep track of multiple coordinate frames over time:

   $ sudo apt-get install ros-kinetic-message-to-tf
   

4. Install tf. tf is a package that lets the user keep track of multiple coordinate frames over time:

   $ sudo apt-get install ros-kinetic-geographic-msgs
   

5. Install move-base-msgs. This is necessary to perform some actions:

   $ sudo apt-get install ros-kinetic-move-base
   $ sudo apt-get install ros-kinetic-move-base-msgs 
   

1. creating a catkin workspace:

   $ mkdir -p ~/manta_ws/src
   $ cd ~/manta_ws/src
   $ catkin_init_workspace
   

2. building the workspace created:

   $ cd ~/manta_ws/
   $ catkin build
   

3. source the current workspace and Gazebo model:

   $ echo "source manta_ws/devel/setup.bash" >> ~/.bashrc
   $ echo "export GAZEBO_MODEL_PATH=/home/youruser/manta_ws/src/manta_gazebo:$GAZEBO_MODEL_PATH" >> ~/.bashrc 
   $ echo "export ROS_PACKAGE_PATH=/home/youruser/manta_ws:$ROS_PACKAGE_PATH" >> ~/.bashrc
   
   

4. close the current window.

5. Open a new window. To make sure the workspace is properly overlayed:

   $ echo $ROS_PACKAGE_PATH
     /home/youruser/manta_ws/src:/opt/ros/kinetic/share 
   
   

1. Enter the folder where you want to clone the repostory:

   $ cd manta_ws/src

2. Clone the repository:

   $  git clone https://github.com/vortexntnu/Manta-AUV.git
   $  git clone https://github.com/vortexntnu/vortex_msgs.git

Ps. You can also manually download the zip-folder in the up-right corner and extract the file
inside the src-folder of you workspace

3. Compile the code by running "catkin build" inside the workspace:

   $ cd ~/manta_ws/
   $ catkin build vortex_msgs
   $ catkin build
   

Figure by: Kristoffer Rakstad Solberg

1. Enter the folder where you want to clone the repostory:

   $ cd manta_ws/src

2. Clone the repository:

   $ git clone https://github.com/vortexntnu/uuv-simulator.git

3. Clone the repository. WARNING: HIGH CPU LOAD, you might want to build packages separately the first time:

   $ catkin build

1. Run your simulation world. This will upload Manta (w/ sensor, camera, thrusters etc) and launch robot localization as well. i.e :

   $ roslaunch simulator_launch cybernetics_pool.launch

2. Launch all modules required for operating Manta:

   $ roslaunch vortex manta_simulator.launch

3. Execute your state machine of choice. i.e:

   $ roslaunch finite_state_machine simtest.launch

Figure by: Kristoffer Rakstad Solberg

1. The main computer for Manta AUV is a ODROID. Find the IP-address of the ODROID:

   $ nmap 10.42.0.1/24

2. SSH into the ODROID:

   $ ssh root@10.42.*INSERT*

3. Specify your static transforms and initial states in robot_localization/launch and robot_localization/params

Figure by: Kristoffer Rakstad Solberg

4. Run the robot localization for extended Kalman Filter for Aided Inertial Navigation:

   $ roslaunch robot_localization ekf_novembertest.launch

5. ARM the thrusters (system specific). For the Manta AUV it will be:

   $ rostopic pub /mcu_arm std_msgs/String "data: 'arm'"

6. Run your state machine of choice. This will activate all modules in Manta V1 architecture. i.e:

   $ roslaunch finite_state_machine odroid_sm

7. DISARM the thrusters (system specific). For the Manta AUV it will be:

   $ rostopic pub /mcu_arm std_msgs/String "data: 'ben'"