Documentation for RDML’s Playtypus Lutra ASV

This page contains documentation for the Platypus Lutra vehicle at the Robot Decision Making Laboratory at Oregon State. The vehicle has been apated slightly from tha manufacturer, primarily in software to provide a ROS interface for planning algorithms. We currently have access to boat position, waypoint status and sensor (temperature and sonar depth) measurements as well as being able to command waypoints through the ROS interface.

The Platypus Lutra is a low-cost platform developed by Sense Platypus. More information about the manufacturer can be found here: http://senseplatypus.com/Solutions/hardware.html.

The main documentation for the site is organized into the following sections:

User Documentation

• Setup and launch of the sami-crw software
  • Installing the Software
  • Starting the boat
  • Launching the Sami-Crw software and Connecting the Boat
  • Updating the Boat Firmware
• Sensors on the Platypus Lutra
• Implementation of ROS Java on the Sami-Crw Software
  • Installing ROSJava
  • Importing Packages into Netbeans
  • Test the ROSJava coupled Sami-crw software
  • Python Code