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<!doctype html>
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<!-- <h5>A </h5> -->
<h3>Introduction</h3>
<p>The software stack has been built on top of the Robot Operating System (ROS) Fuerte, developed at Willow Garage. The software system is implemented as one ROS stack with different packages for vision, navigation, hardware abstraction etc. The major design goals of the software stack was extensibility, abstraction and robustness. Also, based on our previous year's experience, the need for a highly flexible debug platform was found to be necessary. ROS helped us to meet our design goals and keep our software modular, with different duties clex arly demarcated and distributed into various processes called nodes. The core software however, has been kept generic enough so that it can be easily plugged out and plugged into a different robotics framework.</p>
<span style="display:block; height:100px;"></span>
<p><a href="pdf/Matsya3.pdf" class="button button-size-large">Find More in the Journal Paper</a></p>
<p> </p>
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<h3><br/>Software Subdivision</h3>
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Prototyping
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<p> The software system is responsible for mission planing and all the higher level functionality. Matysa runs a custom middeware to provide a neat interface for the applications. The linux kernel provides a complicated interface for safe interprocess communication. It would be very tedious for every software developer in the Matsya team to manage safe interprocess communication and device IO.</p>
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Firmware
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<p>The lowermost layer running on the micro controllers.</p>
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Middle Ware
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<p>Responsible for Inter Process Communication and Hardware Abstraction. The middle ware helps abstract out the micro-controllers and present them as ordinary processes running on the SBC. Each hardware peripheral connected to the SBC is abstracted out as an individual ROS node. Inter Process Communication is handled entirely by ROS using messages and services. This maintains the modularity of the system and provides a clean API for communication.</p>
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<p>Responsible for processing sensor information (such as videos, and IMU (filtering) and providing meaningful data (such as the centre of buoys visible in the video).</p>
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Apllication Layer and Communicator
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<p>Uses data from the processing layer to do useful things. The application layer contains the debug interfaces and the mission planning nodes</p>
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Debugging Platform
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<p>Matsya's debug platform provides on a Qt-based interface. A ROS-node runs on the user-pc and posts for user requests to the SBC on the vehicle.</p>
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<p><i class="fa fa-home"></i>AUV-IITB<br/> Dept of Aerospace Engineering<br/>IIT-Bombay<br/>India 400076.</p>
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