4.4 Running System without the Jetson

This guide will walk you through running the thrusters without the Jetson. These steps were tested on Windows 11. Docker on MacOS will likely have a similar procedure, but it has not yet been tested.

Prerequisites

• ROS Noetic on WSL with Ubuntu 20.04 (look at the other tutorials for this)
• Electrical setup with power supply / batteries - please speak with a lead first

Steps

1. Open WSL

2. Add the main repository into WSL

   • Add the AUV-2025 repository to your WSL environment
   • git clone and copy the folder into your WSL environment
   • or install git and git clone the repo directly in WSL

3. List USB Devices

   • Open an elevated terminal and type:

     usbipd list

   • Identify the <busid> of the USB device you want to connect to Ubuntu.
   • In my case: USB Serial Device (COM4), USB Serial

4. Bind USB Device to WSL

   • Run the following command to bind the USB device to WSL:

     usbipd bind --busid <busid>

   • Example:

     usbipd bind --busid 4-4

5. Attach USB Device to WSL

   • To attach the USB device to your WSL instance, use:

     usbipd attach --wsl --busid <busid>

6. Verify USB Connection in Ubuntu

   • In your Ubuntu terminal, type:

     lsusb

   • This command will list the USB devices connected to your Ubuntu environment.

7. Install packages

   • In your Ubuntu terminal, type:

     sudo apt-get update
     sudo apt-get install python3-catkin-tools
     sudo apt-get install -y build-essential
     sudo apt install python3-pip
     pip install keyboard

8. Build and launch

   1. cd into /AUV-2025/catkin_ws
   2. source devel/setup.bash
   3. catkin build
   4. roslaunch propulsion drytest.launch port:=/dev/ttyACM0