FishPi Proof-Of-Concept-Vehicle

This github repo contains the software for the FishPi POCV.

FishPi

FishPi is an autonomous marine vessel being developed with the aim of crossing the Atlantic unaided. Currently a Proof-Of-Concept-Vehicle is being built and the software for it lies here. The FishPi will use the Raspberry Pi at its heart. For more info on the FishPi see http://fishpi.org/. The Proof-Of-Concept-Vehicle (POCV) is a small model sized craft demonstrating the principles needed for autonomous control of a marine surface vessel.

Roadmap

• v0.1 will support a manual UI mode, fly-by-wire control of motor and rudder, sensor readings (GPS, Compass, Gyro, Temperature) and camera control.
• v0.2 will support route planning, basic behaviours (course setting (heading and speed), waypoint following, path tracking), basic control algorithms (PID / adaptive linear model).
• v0.3 will support remote (web) UI mode, improved testing and calibration of control parameters, increased logging / diagnostics / playback.
• v0.4 will support further behaviours (path planning, loiter, manouver, obstacle avoidance), offline testing setup.

Software

The FishPi software is being developed in Python (2.7) inline with the educational aims of the Raspberry Pi.

Installation

Clone this repository to your local machine.

To install FishPi on your local machine:

• Install Python 2.7, pip, git, and wx, if you don't already have them. These links will tell you how to install each of them:
  • Python: https://www.python.org/download/ (Make sure you get Python 2.7!)
  • git: http://git-scm.com/book/en/Getting-Started-Installing-Git
  • pip: http://pip.readthedocs.org/en/latest/installing.html
  • wx: http://wiki.wxpython.org/How%20to%20install%20wxPython
• If you are running a Debian-based Linux (like Debian, Ubuntu, and some other distros) you can just run sudo apt-get install python-dev python-pip git python-wxgtk2.8 in your terminal.
• Open a terminal, navigate to a directory where you want FishPi to live. Now clone this repository with git clone https://github.com/FishPi/FishPi-POCV---Command---Control.git.
• Now, enter the FishPi directory and install the Python requirements with: sudo pip install -r requirements.txt

To install FishPi on the embedded device (RaspberryPi or BeagleBone Black):

• Install Fabric on your local machine like this: sudo pip install fabric or see the "How to install Fabric" file for more details.
• Make sure you have a network connection to the embedded device and the device has internet access.
• Open a terminal session on your local machine, navigate to the FishPi directory and run fab full_install.
• When prompted for a host, specify the remote device like this: "root@host_address", you will then be asked for the root password.
• Wait and let Fabric do its magic. :-) Done!

Usage

Start the software by running ./fishpi/fishpi.py.

Additional arguments supported include:

• --help: show this help message and exit
• --mode {inactive,local,manual,remote,auto}: operational mode to run
• --debug: increase debugging information output
• --version: show program's version number and exit

Structure

Top level package:

• 'fishpi'

Subpackages:

• 'sensor'
• 'perception'
• 'control'
• 'vehicle'
• 'ui'

Tests

Test sub components and hardware with eg ./fishpi/sensor/test_GPS_I2C.py.

License

BSD 2-Clause License.