Thalassic

ROS 2 Jazzy software stack for AVBotz's Marlin V2 AUV. Runs on the vehicle's Jetson AGX Orin and, with the Stonefish simulator, on developer machines.

Everything the workspace needs is declared in pixi.toml and pinned in pixi.lock. See docs/setup.md for the workflow.

Quick start

git clone --recurse-submodules https://github.com/avbotz/thalassic.git
cd thalassic
scripts/install.sh

pixi run sim                # Stonefish simulation
pixi shell                  # interactive shell with ROS 2 + workspace

Common tasks (pixi task list shows all):

Command	Does
pixi run build	colcon build with the repo defaults (symlink + merge install)
pixi run sim	launch simulation
pixi run pool	launch with real hardware in pool
pixi run test	colcon test
pixi run clean	delete build/ install/ log/
pixi run reset-dds	kill stray ROS processes and stale Fast DDS shared memory

Docs

• Setup & Buildirs
• Deployment — Jetson provisioning
• Decisions
• Architecture
• Control
• Mission
• Vision
• Simulation
• Networking