VantTec USV Main Repository

This is the main working repository for the USV (Unmanned Surface Vehicle) VantTec Platform. Official documentation here.

Prerequisites

1. CUDA 12.8 Toolkit
2. CUDNN 8.9.7
3. TensorRT 10.3.0
4. ZED SDK
5. Install the following dependencies:

sudo apt install libgtsam-dev libgtsam-unstable-dev 
sudo apt install ros-humble-xacro libpcap-dev ros-humble-robot-localization ros-humble-perception-pcl ros-humble-pcl-msgs ros-humble-vision-opencv ros-humble-tf-transformations ros-humble-foxglove-bridge ros-humble-nmea-msgs ros-humble-joy-teleop 

# Install other missing dependencies automatically if needed:
rosdep install --from-paths src -y --ignore-src

Note: This repository can be used without CUDA, CUDNN, TensorRT and ZED SDK if needed, but this requires skipping the visionsystemx package during building and will not allow for any vision functionalities.

Downloading and building the workspace

# Clone repository and its submodules
cd
git clone http://github.com/vanttec/vanttec_usv.git
cd vanttec_usv
git submodule update --init --recursive

# Build the usv_interfaces package first
colcon build --packages-select usv_interfaces

# Set environment variables with install/setup.bash file
source ./install/setup.bash

# Build the rest of the packages
colcon build

For use without cuda, the visionsystemx package can be skipped by using the following command instead:

colcon build --packages-skip visionsystemx

Optional extra:

• Install ACADOS for usv_control's MPC's functionalities
• Use vanttec_usv_gz for simulation of the USV

Congratulations, you're ready to navigate the future @ VantTec!