Angler is a general ROS 2 framework designed to support research, development, and deployment of underwater vehicle manipulator systems (UVMS).
The main features of the project include:
- Support for developing custom whole-body controllers alongside the existing control algorithms like Set-Based Task-Priority Inverse Kinematic (TPIK) control
- Support for developing custom trajectory and motion planning algorithms
- ArduSub + Gazebo SITL integration for evaluating the performance of your system in a simulation environment
- RViz2 integration for visualization
- Modular design to enable integration of personalized platforms
- Integration of Blue to provide support for custom vehicle controllers like sliding-mode control
Angler is currently supported on Linux, and is available for the ROS
distributions Humble, Iron, and Rolling. To install Angler, first clone this
project to the src directory of your ROS workspace, replacing $ROS_DISTRO
with the desired ROS distribution or main for Rolling:
git clone -b $ROS_DISTRO git@github.com:evan-palmer/angler.gitAfter cloning the project, install all external dependencies using vcs:
vcs import src < src/angler/angler.reposFinally, install the ROS dependencies using rosdep, again, replacing
$ROS_DISTRO with the desired ROS distribution:
rosdep update && \
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTROROS 2 launch files have been provided to start the Angler system. To launch the SITL interface for the BlueROV2 Heavy with a Reach Alpha 5 manipulator, run
ros2 launch angler_bringup bluerov2_heavy_alpha.launch.py use_sim:=trueA full description of the launch arguments and their respective default values can be obtained by running the following command:
ros2 launch angler_bringup bluerov2_heavy_alpha.launch.py --show-argsIf you have questions regarding usage of Angler or regarding contributing to this project, please ask a question on our Discussions board!
Angler is released under the MIT license.