# README
SeaClear Hardware Development Data


## Summary ##
This repository contains the publicly available data regarding the hardware development for the SeaClear project (https://seaclear-project.eu/).


## Dataset description
The data regard the hardware design and development of the SeaClear system. The SeaClear project aim to develop a robotic autonomous system to identify and collect litter from the seafloor. The SeaClear system is composed by the following components:
- Mini-Tortuga: an autonomous Unmanned Undewater Robot (UUV) which performs the litter identification task.
- Tortuga: a UUV which performs the litter collection operations.
- Basket: a basket that is lowered into the water and where the litter is deposited after being collected.
- SeaCat: an Unmanned Surface Vehicle (USV) to which all the other three components are connected through a tether. The SeaCat provides power and computational power to the other components of the SeaClear system.


## Files description ##
The repository contains the following files:

1. Equipment operation description
Four files are included in the repository regarding the hardware description.
	- Tortuga physical description.pdf: the file contains some 3D views of the Tortuga UUV where the dimensions and other relevant information about the UUV are indicated.
	- Mini-Tortuga physical description.pdf: the file contains some 3D views of the Mini-Tortuga UUV where the dimensions and other relevant information about the UUV are indicated.
	- Tortuga modules description [French version].pdf: the description of the main hardware modules of the Tortuga UUV and their relationship. This file is only available in French.
	- ROS modules overview: a schematic overview of the ROS architecture used in the SeaClear system, including the main modules and the data that they exchange with each other.

2. 3D mechanical design
Four files with the 3D mechanical design data are available in the repository:
- SeaCat.step: 3D CAD file of the SeaCat.
- Tortuga.step: 3D CAD file of the Tortuga UUV.
- Mini-Tortuga.step: 3D CAD file of the Mini-Tortuga UUV.
- Basket.step: 3D CAD file of the Basket.

In addition, the file 'SeaCat 3D Images.pdf', which contains some 3D views of the SeaCat with additional information about it, is provided in the repository.

3. Navigation software
The OpenCPN software was used for the navigation control. It is an open-source sofware found at the link https://opencpn.org/.
