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Computer Science > Robotics
Title: OtterROS: Picking and Programming an Uncrewed Surface Vessel for Experimental Field Robotics Research with ROS 2
(Submitted on 8 Apr 2024 (v1), last revised 23 Apr 2024 (this version, v2))
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.
Submission history
From: Thomas Sears [view email][v1] Mon, 8 Apr 2024 15:59:47 GMT (16000kb,D)
[v2] Tue, 23 Apr 2024 00:50:41 GMT (16000kb,D)
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