Overview

This package contains:

• robot description for the BlueROV r1 and BlueROV r2 (for TF and rviz)
• launch files to start the mavlink connection to the ROV, to enable the ROV camera, and to transmit IMU data as odometry
• an rqt configuration to act as a control interface for the ROV

Compatible ROVs

This package is designed to work with a variety of ROV platforms, but is focused on the BlueROV from Blue Robotics. Other platforms can utilize this library as well as long as they have the following items:

• A surface computer running ROS
• An input device for manual control attached to the surface computer

  • We are using a wireless Xbox 360 controller and USB dongle

• An on-board computer running Ubuntu w/ Ethernet port for tether

  • We are using a RaspberryPi 2 B

• An on-board camera

  • We are using a RaspberryPi Camera

  • Standard USB webcams should also work
• One or more thrusters

  • BlueRobotics T100 and T200 thrusters are supported

• An on-board flight controller

  • We are using a Pixhawk

• Optional sensors

  • We recommend a Bar30 pressure sensor to enable depth hold

Tutorials

1. ROV Prerequisites

   A list of the prerequisites to using an ROV with this package.

2. Flashing an SD Card with Ubuntu

   Instructions to install the operating system onto the ROV's computer.

3. Wifi Network Setup

   Instructions for setting up a wifi link to aid in development.

4. Tether Network Setup

   Instructions to setup the tether between the ROV and the surface computer.

5. Install BlueROV ROS Packages

   Instructions for installing the bluerov and bluerov_apps packages.

6. Basic ROV Usage

   Instructions for using your ROV.

7. Intermediate ROV Usage

   More instructions for using your ROV.

Also check out the bluerov_apps package for applications such as teleoperation.

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]