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sw [2020/02/02 19:44] nikolalsw [2025/01/28 13:15] (current) – [DUNE for the Otter] nikolal
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 ====== Software Architecture ====== ====== Software Architecture ======
-The control box of the Otter ASV used by NTNU, use a customized version of [[https://lsts.fe.up.pt/toolchain/dune|DUNE]] running on the [[https://www.raspbian.org/|Raspian]] OS.+The control box of the Otter ASV used by NTNU, use a customized version of [[https://lsts.fe.up.pt/toolchain/dune|DUNE]] running on the Ubuntu Server 20.04.
  
-===== Raspian ===== +===== The LSTS Toolchain ===== 
-Raspbian is a Linux based operating system optimized for use on the Raspberry Pi hardwareDue to the +The software used to control the Otter is based on the LSTS [[https://www.lsts.pt/toolchain|Toolchain]], which is a software toolchain meant for developing networked vehicle systems. It aims at creating a 
-great amount of community support availableand previous experience, it was chosen as the operating system +modular system for heterogeneous systems of vehiclesin order to control them by much of the same software. 
-for the Otter. +The Otter is an autonomous surface vehicle (ASV), but it also supports autonomous underwater vehicles 
-Raspian comes in two official flavoursone with a full desktop environment, and one meant for headless (No screenkeyboard or mouse used, only remote access.useThe Otter is controlled over a network connection, and having desktop would only waste valuable resources. That is the reasoning behind why the Otter uses the headless version called Raspian Lite.+(AUV)unmanned aerial vehicles (UAV)remotly operated vehicles (ROVand more. 
 +An important aspect in why it was chosen, was that it is open source. This makes it easier to know how the 
 +software actually works, and also gives anybody chance to fix faults, and implement new features.
  
 +The three main components are Neptus, IMC and DUNE. Neptus is the operators console, IMC is the
 +communication protocol, and DUNE is the software controlling the vehicles. The next three sections give
 +more details of these components.
 +
 +The LSTS toolchain is also being used by multiple other projects at NTNU:
 +  * [[http://autonaut.itk.ntnu.no/doku.php| The NTNU AutoNaut]]
 +  * [[http://uavlab.itk.ntnu.no/wiki/doku.php|The UAV lab]] (requires local IP address), there is also some [[https://www.itk.ntnu.no/english/lab/unmanned|public information]] available.
  
 ===== DUNE for the Otter ===== ===== DUNE for the Otter =====
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   * [[dune_configuration|DUNE configuration]]   * [[dune_configuration|DUNE configuration]]
   * [[torqeedo_interface_dune_task|Torqeedo Interface DUNE task]]   * [[torqeedo_interface_dune_task|Torqeedo Interface DUNE task]]
-  * [[tbr700rt_dune_task|TBR-700 RT DUNE Task]] 
   * [[stratopican_watchdog|Strato Pi CAN watchdog DUNE Task]]   * [[stratopican_watchdog|Strato Pi CAN watchdog DUNE Task]]
  
  
 ===== Guides ===== ===== Guides =====
-  * [[sw_setup|Installing raspian and enabling CAN bus]] 
   * [[sw_run_startup|Starting DUNE while booting]]   * [[sw_run_startup|Starting DUNE while booting]]
-  * [[glued_cross_compiler|Cross-compiling for the Raspberry Pi]]+  * [[cmake|DUNE cmake tips]]
   * [[neptus_tips_and_tricks|Neptus tips and tricks]]   * [[neptus_tips_and_tricks|Neptus tips and tricks]]
-  * [[enable_pps_support_raspian|Enable PPS support in Raspian]]+  * [[boot_config|]] 
 +  * [[rpi_uart_setup|RPI UART setup]] 
  • sw.1580669093.txt.gz
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