This repository contains the code for our second underwater vehicle Anahita.

S. No.	Operating System	ROS Version	Build Status
1.	Ubuntu 16.04 LTS	Kinetic Kame

1. Create a catkin worspace following the guidelines given here

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ..
catkin_make

2. Clone this repository to your catkin workspace

cd ~/catkin_ws/src
git clone https://github.com/AUV-IITK/Anahita.git

3. Install all dependency packages to run the repository

The repository requires the following ROS packages to run: usb_cam, geographic_msgs, rosserial_arduino, underwater_sensor_msgs.

You can build and install those packages from their respective sources or you can use the following command in Ubuntu 16.04 to install them. If you are building from source or using a different package manager, make sure you are building the kinetic version of these packages to ensure maximum compatibility.

sudo apt-get install ros-kinetic-usb-cam \
                     ros-kinetic-geographic-msgs \
                     ros-kinetic-rosserial-arduino \
                     ros-kinetic-underwater-sensor-msgs

4. Build the package using catkin_make

cd ~/catkin_ws
# To maximize performance, build the workspace in Release mode
catkin_make -DCMAKE_BUILD_TYPE=Release

To get started with contributing to this repository, look out for open issues here. Kindly read the Developer's Guide before sending a pull request! :)