Setup Environment

Create directory for project related ROS modules (here: EVINS)

Replace 'path_to_ROS_WORKSPACE' with the path to your ROS WORKSPACE (here: /opt/ros/evins):

export ROS_WORKSPACE=/opt/ros/evins
cd $ROS_WORKSPACE
mkdir -p src/evins_nodes
export EVINS_DIR=$ROS_WORKSPACE/src/evins_nodes
echo "export EVINS_DIR=$ROS_WORKSPACE/src/evins_nodes" >> ~/.bashrc

Clone repositories

cd $EVINS_DIR
git clone --recursive [email protected]:evologics/evins_ros_docker

Update evins_ros_docker repository

cd $EVINS_DIR/evins_ros_docker
git pull --recurse-submodules
git submodule update

Install docker

1. Recommended extra packages for Trusty 14.04

sudo apt-get update
sudo apt-get install linux-image-extra-$(uname -r)

• Install packages to allow apt to use a repository over HTTPS:

sudo apt-get install apt-transport-https ca-certificates curl software-properties-common

• Add Docker’s official GPG key:

curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"

• Install it:

sudo apt-get update
sudo apt-get install docker-ce

• Verify that Docker CE is installed correctly by running the hello-world image:

sudo docker run hello-world

• Create the docker group:

sudo groupadd docker

• Add your user to the docker group:

sudo usermod -aG docker $USER

• Log out and log back in so that your group membership is re-evaluated.

Run EviNS Docker containers

Build EviNS docker imange

cd $EVINS_DIR/evins_ros_docker/docker
docker build -t ros:evins .

Open vpn (not in container)

On a different terminal:

cd `evologics_emulator`
sudo ./run-dmace-***.sh
password: *******

Test container

Just to see if everything is ok

cd $EVINS_DIR/evins_ros_docker/docker
./run-generic-container test /bin/bash
exit

Compile in container

./compile-container

Run vehicle simulation in container

• Dynamics simulation: For each vehicle you must run ('container_name' must be the same for both):
• EviNS architecture:

./run-sim-container 'ID' 'MISSION' 'ROLE'

where 'ID' is the simulated modem address, 'MISSION' is one of the mission directories defined in $EVINS_DIR/evins_ros_docker/missions and 'ROLE' is the top level launch file in the 'MISSIONS'/launch directory.

For example,

./run-sim-container 1 polling ship

Run something in the running container

Replace 'container_name' with the name of the container that you want to enter:

docker exec -i -t 'container_name' bash

Manually run ship-auv polling

It is assumed, there is vpn connection to the emulator or ethernet connection to dmace-box and the IPs of emulated modems are registered in the file docker/hosts as hostnames lvX.

Run polling mission on the ship side with the modem 1:

./run-sim-container 1 polling ship

It runs evins with configuration missins/polling/etc/fsm-1.conf, dynamically generated from the file missions/polling/etc/fsm.conf.m4.mux.polling and run roslaunch with the launchfile missions/polling/launch/ship.launch.

Run polling mission on the auv side with the modem 2 on a different terminal:

./run-sim-container 2 polling auv

It runs evins with configuration missins/polling/etc/fsm-2.conf, dynamically generated from the file missions/polling/etc/fsm.conf.m4.mux.polling and run roslaunch with the launchfile missions/polling/launch/auv.launch.

Connect to the auv side container:

docker exec -i -t lv2 bash

And run the following commands:

# set protocol polling:
rostopic pub -1 /evins_nl/protocol evins_nl/NLProtocol '{protocol: "polling", command: {id: 2}}'
rostopic echo /evins_nl/raw

Connect to the ship side container:

docker exec -i -t lv1 bash

And run the following commands:

# set protocol polling:
rostopic pub -1 /evins_nl/protocol evins_nl/NLProtocol '{protocol: "polling", command: {id: 2}}'
# set polling sequence [2,3]:
rostopic pub -1 /evins_nl/polling evins_nl/NLPolling '{sequence: [2,3], command: {id: 2, subject: 14}}'
# start polling with burst data:
rostopic pub -1 /evins_nl/polling evins_nl/NLPolling '{flag: 1, command: {id: 8, subject: 14}}'
# send sensitive message "test" to modem 2:
rostopic pub -1 /evins_nl/data evins_nl/NLData '{datatype: 2, data: "test", route: {destination: 2}, command: {id: 6, subject: 12}}'

The sequence of above defined commands runs the polling interrogation and sends sensitive packet "test" to the modem 2. Its reception can be seen on the auv side with the running rostopic echo.