# SAUVC2024 技術文件

## 軟體組

### 視覺
> [name=江廷威 ([e-mail])]
> [name=楊育陞([e-mail])]

#### Compute
- [NVIDIA Jetson Xavier NX Developer Kit Setup](/i1J97l7ASGiyLkyO2n4Zpg)
- [Orin NX](/G9VlXiUqQX-_k-lhAZBQ0w)

#### Camera
- [Intel Realsense d435i Setup](/rVANKqWeQW206b4quKsQrQ)
- [Camera Calibration](/kkzVgXNTQlu14iLUwiI-Zw)

#### Development Environment
- [NVIDIA Isaac ROS](/5pV_GR3qSLqnGV9uZBOLpg)

#### Simulation
- [Gazebo Simulation](/ma1BOusXQGG243Q3KtojwQ)

#### Object Detection
- [YOLOv8](/VNhcl1kgQc6obh53VP-7kw)
- [YOLOv8 Label](/GnCJFBogSr-xqZQ2JIHxyA)

#### Decision
- [Orca FSM](/-HDbnkWGSmScOfs6wnlcaw)

#### Comunication
- [ROS Container Communication](/uXwM29avQreL9rK67JTWmw)

#### Deprecated
- [ZED ROS](/xo8u9vu2Q8W3SqqRJRAaCQ)
- [ZED SDK](/Ckx8FWcOQf-Pt6NrwmZQBg)
- [ZED Positional Tracking](/md1RZtPJTJ2N2lEj0FB_Aw)
- [ZED Spatial Mapping](/srIf7255QA-0c6_kb2OILA)
- [Behavior Tree](/7b4xlM2yRISO4hW1uK6_5w)
- [Yaw Detector](/BhcWboN4QLWPkuZgZJxJDg)

---
### 感測與控制組
> [name=徐冠東([e-mail])]
> [name=江承翰([e-mail])]
>

#### Development Environment

- Raspberry Pi 4 model B環境設置
https://hackmd.io/@NCTU-auv/ByjiwDHAp

#### Sensor

- Pixhawk 4_v5 - 飛控板
https://hackmd.io/@NCTU-auv/rkP9HV-e6
- HandsFree ROS IMU
https://github.com/NCTU-AUV/imu_pkg
- Hall Switch with RPI
https://hackmd.io/@NCTU-auv/HJcmTM9tT
- BAR02 壓力感測器
https://hackmd.io/@NCTU-auv/HkuxdcFAj/edit
- 1D & 1.5D sonar
https://hackmd.io/@NCTU-auv/Sy8jikGk3/edit

#### Controller
- AUV control on STM32
https://hackmd.io/@NCTU-auv/HyxFyYNO2
- 控制器設計程式詳解
https://hackmd.io/@NCTU-auv/BJLHBVoRo
- Allocation matrix
https://hackmd.io/@NCTU-auv/HkBgyB4a3

#### ROS 相關
- ROS communication over Machines - Using router
https://hackmd.io/@NCTU-auv/ryuv9i2g3/edit
- ROS communication over Machines - Using wired connections
https://hackmd.io/@NCTU-auv/By1ZsQmT3
- socket in ros
https://hackmd.io/@NCTU-auv/Sku0iVAVh/edit
- ros spin notes
https://hackmd.io/@NCTU-auv/BJXpXzb2n

#### STM32相關

- STM32 Development
https://hackmd.io/@NCTU-auv/BJOy7HaAc
- Flash STM32 code to Rpi Installation
https://hackmd.io/@NCTU-auv/SkPX-ugan
- STM32_ROS
https://hackmd.io/@NCTU-auv/ByAlVPae2
- Stm32腳位分配
https://hackmd.io/@NCTU-auv/BJ0QgzqYp

#### 水聽相關
- DAQ system
https://hackmd.io/@NCTU-auv/BJZlgyOZp

#### 其他

- 樹莓派上 USB Device 綁定特定的 Device Port
https://hackmd.io/@NCTU-auv/BJMrTNfph
- 2023暑假進度規劃
https://hackmd.io/@OPhoat6bQ06L3fD9DBb-8Q/rJC7R13_2/edit

## 硬體組