Table of contents Master Internship at Tampere University of Technology 2019 INTRODUCTION The aCOLOR project Issues and Goals BlueRov2 Presentation General presentation Components New frame for AUV Launch and recovery systeme BlueRov2 software MAVlink Ardusub Ros implementation Command law GUI IMU TEST REALISED test in the" pool" First test at the lake with boat Law test and charts WORK ORGANISATISATION Untitled CONCLUSION Work done Further Work BIBLIOGRAPHY Untitled