FAROL
Introduction
FAROL (Free Autonomous Robots for Observations and Labelling) is the core software of NetMARSys Toolchain developed at DSOR - ISR (Dynamical Systems for Ocean Robotics - Institute for System Robotics) research group. It is used for simulations and field trials of actual marine vehicles (ASVs, AUVs and ROVs). It comprises a set of ROS packages written in Python and C++ together with external dependencies, please see Repository Structure for detailed information.
A simple dynamic model simulator is included with FAROL. It is also possible to connect FAROL to a Gazebo simulator with more advanced sensor models, actuators and dynamics. For this check out our repositories Farol Gazebo. For a quick setup please check DSOR Simulation repository.
Currently FAROL acts as the pivotal piece in the control, navigation and communications of the following DSOR marine vehicles:
Requirements
This code stack was developed with ROS1 in mind. In order to use it, you are required to have:
- Ubuntu 20.04LTS (64-bit)
- ROS1 Noetic
- Python 3