The past week I was working on the code for the Robotic Operating System (ROS). We were able to load our Object Detection model to the Jetson computer and run the model using ROS. I then created another package on ROS that we will use to write our code for the movements of the drone. I linked the two packages (The movements and the computer vision) and was able to launch them together. This following week we will get the drone underwater and test the movements of it so that later on I can start coding some of the tasks for the drone.

 

The past week we were able to put the drone together with all the required components to operate it. Before putting the drone underwater we pressure tested it with a vacuum pump which gave us an unsatisfying result. Later we tested it underwater to see if it actually leaked before putting the electronics inside. Sadly the drone ended up leaking. The team was able to fix the cable penetrators that were leaking but the it seemed like the metal plate that was used to enclosing the tube was also leaking. On this upcoming week we will try to fix the issue with the metal plate so that the acrylic tube will be waterproof.