# ros_asv_system

**Repository Path**: mmmastering/ros_asv_system

## Basic Information

- **Project Name**: ros_asv_system
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2019-12-15
- **Last Updated**: 2021-11-03

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# The ASV System Package

The Autonomous Surface Vehicle (ASV) System Package is a collection of ROS
packages I developed as a part of my master's thesis.


## Contents
This package contains:
+ `asv_ctrl_vo`: an implementation of the "Velocity Obstacle" algorithm for
collision avoidance.
+ `asv_path_trackers`: implements the (Integral) Line of Sight (LOS) method and
a simple pure pursuit scheme for path following.
+ `asv_msgs`: message types used in the system.
+ `asv_obstacle_tracker`: package that acts as a "black box", providing
information about the states (and possibly metadata) that a collision avoidance
system can subscribe to. _It does not actually track obstacles._ It is also
possible to simulate the addition of sensor noise using this package.
+ `asv_simulator`: simulates a nonlinear 3DOF surface vessel.
+ `asv_system`: metapackage with launch files and more!
+ `state_estimator`: unfinished package for estimating the ASV pose given GPS
and IMU data.