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arXiv · 2404.05627

OtterROS: Picking and Programming an Uncrewed Surface Vessel for Experimental Field Robotics Research with ROS 2

Thomas M. C. Sears·M. Riley Cooper·Sabrina R. Button·Joshua A. Marshall
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Abstract

There exist a wide range of options for field robotics research using ground and aerial mobile robots, but there are comparatively few robust and research-ready uncrewed surface vessels (USVs). This workshop paper starts with a snapshot of USVs currently available to the research community and then describes "OtterROS", an open source ROS 2 solution for the Otter USV. Field experiments using OtterROS are described, which highlight the utility of the Otter USV and the benefits of using ROS 2 in aquatic robotics research. For those interested in USV research, the paper details recommended hardware to run OtterROS and includes an example ROS 2 package using OtterROS, removing unnecessary non-recurring engineering from field robotics research activities.

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BibTeXRIS

Thomas M. C. Sears, M. Riley Cooper, Sabrina R. Button, Joshua A. Marshall. 2024-04-08. OtterROS: Picking and Programming an Uncrewed Surface Vessel for Experimental Field Robotics Research with ROS 2. https://arxiv.org/abs/2404.05627

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