WU25

2025 MATE ROV Competition Code

Install

1. Install ROS 2 Jazzy
2. Create a ROS 2 workspace
3. cd [YOUR_WORKSPACE]
4. source install/local_setup.bash
5. cd [YOUR WORKSPACE]/src
6. git clone https://github.com/WIT-IEEE-MATE-ROV/WU25.git --recurse-submodules

Install wiringOP

6. Run sudo ./build in wiringOP directory

Install libgpiod

7. sudo apt-get install autotools-dev && sudo apt-get install autoconf && sudo apt-get install dh-autoreconf && sudo apt install autoconf-archive
8. cd libgpiod
9. sudo ./autogen.sh --enable-tools=yes
10. sudo make && sudo make install
11. I forgot.
12. Profit!

Build

1. cd [YOUR WORKSPACE] (Don't build inside the package)
2. colcon build

Enabling spidev (Orange Pi 5)

1. Copy device tree blob file from firmware files

dtc -I dtb -O dts -o opi5.dts /usr/lib/firmware/6.1.0-1025-rockchip/device-tree/rockchip/rk3588s-orangepi-5.dtb

2. Edit opi5.dts to enable the spi4 peripheral

Find node spi@fecb0000 in opi5.dts and change the status property to "okay"

3. Turn opi5.dts into a .dtb

dtc -I dts -o ./rk3588s-orangepi-5.dtb opi5.dts

4. Replace the device tree blob file with the modified version

sudo cp rk3588s-orangepi-5.dtb /usr/lib/firmware/6.1.0-1025-rockchip/device-tree/rockchip/rk3588s-orangepi-5.dtb

5. Reboot the Orange Pi 5

Now hopefully /dev/spidev4.1 shows up. If it doesn't you might need to run sudo modprobe spidev to load the module.