OtterROS: Picking and Programming an Uncrewed Surface Vessel for Experimental Field Robotics Research with ROS 2
<|reference_start|>OtterROS: Picking and Programming an Uncrewed Surface Vessel for Experimental Field Robotics Research with ROS 2: There exist a wide range of options for field robotics research using ground and aerial mobile robots, but there are comparatively few robust and research-ready uncrewed surface vessels (USVs). This workshop paper starts with a snapshot of USVs currently available to the research community and then describes "OtterROS", an open source ROS 2 solution for the Otter USV. Field experiments using OtterROS are described, which highlight the utility of the Otter USV and the benefits of using ROS 2 in aquatic robotics research. For those interested in USV research, the paper details recommended hardware to run OtterROS and includes an example ROS 2 package using OtterROS, removing unnecessary non-recurring engineering from field robotics research activities.<|reference_end|>
@article{sears2024otterros:,
    title={OtterROS: Picking and Programming an Uncrewed Surface Vessel for
  Experimental Field Robotics Research with ROS 2},
    author={Thomas M. C. Sears, M. Riley Cooper, Sabrina R. Button, Joshua A.
  Marshall},
    journal={arXiv preprint arXiv:2404.05627},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.05627},
    primaryClass={cs.RO cs.SY eess.SY}
}