loco-auv/loco_config

Purpose and Scope

LoCO is a meta-repository for the LoCO autonomous underwater vehicle (AUV). It packages deployable host configuration, hardware/CAD design sources, fabrication exports, and camera reference material; it does not contain the robot’s ROS packages or application logic.

Operational Entry Points

Device startup is centered on ROS launch wrapper scripts and system services:

• Raspberry Pi: rpi_config_files/ros-start.bash, rpi_config_files/ros-start.service

• NVIDIA TX2: tx2_config_files/ros-start.bash, tx2_config_files/ros-start.service

These are the intended boot-time integration points for the external LoCO software stack. get_pi_ip.sh is a host-discovery utility.

Multi-Computer Robot Network

The repository defines three network roles:

• Vehicle Raspberry Pi configuration: rpi_config_files/50-cloud-init.yaml, rpi_config_files/rpi.routing

• Vehicle TX2/Jetson configuration: tx2_config_files/interfaces, tx2_config_files/tx2.routing

• Operator Control Unit (OCU): ocu_config_files/interfaces, ocu_config_files/ocu.routing

Persistent NIC naming is established independently on each host through rpi_config_files/70-persistent-net.rules, tx2_config_files/70-persistent-net.rules, and ocu_config_files/70-persistent-net.rules. Hosts files provide local name resolution at this boundary.

Vehicle Compute and Device Runtime

The Raspberry Pi and TX2 are separately provisioned runtime nodes. Both include USB filesystem-memory tuning and removable-media mounting services:

• rpi_config_files/usbfs-memory.service, rpi_config_files/mount-usb.service

• tx2_config_files/usbfs-memory.service, tx2_config_files/mount-microsd.service

The Pi also includes boot/display/platform settings in rpi_config_files/config.txt. Startup services execute the ROS wrapper scripts, making systemd the boundary between OS boot and robot software.

Mechanical System Source of Truth

The primary full-system CAD assembly is models/SolidWorks/LoCO.SLDASM. It composes vehicle sections and vendor-derived hardware models, including compute mounting, battery packaging, ballast, camera support, pressure enclosure, and thruster mounting. The enclosure-specific assembly is available at models/LoCO_Shell/LoCO_Shell.SLDASM.

Fabrication Outputs

Manufacturing-ready geometry is separated from editable CAD:

• 3D-printable/exported parts: models/STLs/LoCO_Jetson_Section.STL, models/STLs/LoCO_Battery_Section.STL, models/STLs/LoCO_ThrusterMount.STL

• Laser-cut base patterns: models/LaserCut/MDFBaseLeft.DXF, models/LaserCut/MDFBaseRight.DXF

• Editable sources: models/SolidWorks/LoCO_Jetson_Section.SLDPRT, models/SolidWorks/LoCO_Battery_Section.SLDPRT

Unit conventions are explicit in models/STLs/STL in MILLIMETERS.txt and models/LoCO_Shell/STL in METERS.txt, a material boundary for fabrication workflows.

External Hardware and Documentation

Camera integration targets the BFS-U3-31S4, with vendor specifications stored in camera_reference/BFS-U3-31S4-Datasheet.pdf and camera_reference/BFS-U3-31S4-Technical-Reference.pdf. The CAD inventory also embeds interfaces for Blue Robotics-style enclosure/thruster components and onboard hardware such as Pixhawk, Jetson, Raspberry Pi, batteries, and power distribution.

Licensing Boundary

Software/configuration is GPLv3 (LICENSE_GPLV3); physical designs are Creative Commons Attribution-ShareAlike (LICENSE_SHAREALIKE). Changes to boot/network configuration and changes to fabrication/CAD artifacts should therefore be treated as distinct deliverables and licensing domains.