Over the last few months, we’ve been working on moving to ROS (Robot Operating System), an open-source framework for developing software for robots. It includes a message-passing layer that has replaced DDS (Data Distribution System) for us, utilities for managing all the software that the submarine runs, and numerous tools that let us work much more efficiently.
In mid-February, the code was mature enough to let us hold position. Since then, we’re been capturing video and sonar data in preparation for attempting challenges. The above image shows us in the pool looking at the shooter target using a camera and imaging sonar.