UNH Marine Autonomy Framework

Welcome to the UNH Marine Autonomy Framework repository. This is the home of the autonomous control software developed at the Center for Coastal and Ocean Mapping / Joint Hydrographic Center (CCOM/JHC) at the University of New Hampshire (UNH), also known as Project11.

North Star: "Tell a robot to map an area, have it do it safely, and return with good data."

Vision

The framework is a multi-domain, community-driven platform for marine robotics. Read the Vision & Strategic Pillars

Repository Structure

This repository is a collection of packages that form the core of the autonomy system.

• marine_autonomy: The meta-package and core documentation for the legacy "Project11" logic.
• helm_manager: Arbitrates control commands to the hardware.
• mission_manager: High-level mission execution and state machine.
• camp (External): The CCOM Autonomous Mission Planner (UI).

Getting Started

This repository is typically part of a layered workspace setup.

Quick Build

colcon build --symlink-install

Workspace Integration

This repository works standalone — clone it, build with colcon, and run. It can also be used with the ros2_agent_workspace, which provides layered workspace management, CI tooling, and AI-agent support. The config/ directory contains .repos files that the workspace uses to pull in dependencies across six layers (underlay, core, platforms, sensors, simulation, ui). See the workspace repo for setup instructions.

Community & Contributing

Contributions from the marine robotics community are welcome.

• Issues: Please use GitHub Issues for bug reports and feature requests.
• Pull Requests: The project follows a standard PR workflow.