6.2 Team Knowledge

Pooltest Procedure

Pre-Pooltest

Ensure there is a clear plan and everyone is briefed on the goals of the pooltest.
Assemble and drytest the AUV (ideally the day before the scheduled pooltest).
If using cameras/sensors, ensure the cameras/sensors can stream data.
Charge the batteries.
Create a dedicated pooltest branch.

Checklist:

• Tether
• Router
• Extension cord
• Powerwire
• Ethernet wire
• Multimeter
• Batteries inside the battery bags
• Charger for the batteries
• Towels (for human and Dougie)
• O-ring grease
• electrical tape
• Gopro
• Props

Electrical procedure

1. Use a multimeter to perform a short test on the powerboard V4
   (There should only be a "beep" from pins 1 and 3 on the B1 side)
2. With system and thruster kill switches out, plug in the batteries
3. Arm both the system and thruster kill switches

Software procedure

• Set up tether/WiFi connection ** Plug the router into a power source and connect the ethernet end of the tether to the router. Plug in the tether to the AUV.
• Connect to the AUV WiFi network through your computer Wifi configurations. Password is Jetson24 (written on the back of the router)
• Open a terminal and run the following commands.

ssh [email protected]
If it times out, then the router is not plugged in correctly or the jetson is not turned on.
If you get "Connection refused", it could be due to the wrong IP address. If possible, run ifconfig on the jetson and look for the IP that starts with 192.168.0.x . Try ssh using this address or just try all 192.168.0.10[1-9].
If it doesn't time out, it will ask for a password: jetson \

Now you are "inside" the jetson.
To check if any docker containers are running
docker ps
If there aren't any docker containers, do
cd ~/AUV-2025/Docker/jetson
docker compose up -d
If there are docker containers, skip the previous steps and continue from here.
docker exec -it jetson-douglas-1 bash
cd AUV-2025/catkin_ws
catkin build
source devel/setup.bash
Note that whenever you open a new terminal, you need to ssh, docker exec and then source again.

To run dry test (this tests if all the thrusters can spin)
roslaunch propulsion drytest.launch
To run sensors status (this tests if all sensors are connected)
roslaunch sensors sensors.launch

If there is a problem with one of the sensors, make sure that the jetson can see them by running.
ls /dev/[name_of_sensor]*
If it can't find, check /dev/tty* and see if it's there.
If it is, then run the udev rules script in /AUV-2025/Docker/jetson.
./generate_udev_rules.sh

If it isn't, then it's an electrical problem.
At this point, you are ready to start pooltesting!

Mech procedure

• Use gloves to apply the o-ring grease.
• Close the latches in opposite pairs such that the pressure on the o-ring remains even
• Submerge the AUV (power off) and be really alert checking for bubbles (especially around the lid - corners in particular).

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In the pool

Commands for common things you might want to do
To "start" something, you need to do roslaunch [package name] [launch file name].launch
The most common launch files are:
roslaunch sensors sensors.launch --> allows you to stream data from all sensors
roslaunch bringup bringup.launch --> launches sensors, propulsion, state estimation, controls

Make AUV move

1. Modify AUV-2025/catkin_ws/src/planner/src/pooltest.py to make the AUV do what you need it to do. Refer to the Controller documentation for what each line means.
2. cd AUV-2025/catkin_ws/src then roslaunch planner pooltest.launch

Get sensor data

1. rostopic list --> this lists all available topics.
2. rostopic echo [topic name]

Publish directly to a topic
rostopic pub [topic name] [msg type] "[msg]"
For example, publishing PWMs to thursters:
rostopic pub /propulsion/microseconds auv_msgs/ThrusterMicroseconds "{microseconds: [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]}"

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After the pooltest

Take out the AUV and pat it dry. Get a dry person to carefully lift the lid, always inspecting for water droplets and leaks. There should be no water on the inner side of the O-ring.
Debrief the team on what happened
Push all necessary changes. Delete the pooltest branch.

Credits to frompotenza and MrMondrian for the first iteration of this page in the AUV-2025 repo.