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bluerov_node: A ROS package to control BlueRov2

bluerov_node is a ROS package which uses pyros to communicate with ROS and pymavlink to interact with the ROV.

Usage

Once the BlueRov is connected to your computer, run:

$ roslaunch bluerov_ros_playground bluerov_node.launch

You can select the input device with: bluerov_node_device:=udp:localhost:14550 or bluerov_node_device:=/dev/ttyACM0 argument. The default value is udp:192.168.2.1:14550.

Topics

The folowing topics are available: $ rostopic list

  • /BlueRov2/arm - std_msgs/Bool
  • /BlueRov2/battery - sensor_msgs/BatteryState
  • /BlueRov2/camera/image_raw - sensor_msgs/Image
  • /BlueRov2/imu/data - sensor_msgs/Imu
  • /BlueRov2/mode/set - std_msgs/String
  • /BlueRov2/odometry - nav_msgs/Odometry
  • /BlueRov2/rc_channel1/set_pwm - std_msgs/UInt16
  • /BlueRov2/rc_channel2/set_pwm - std_msgs/UInt16
  • /BlueRov2/rc_channel3/set_pwm - std_msgs/UInt16
  • /BlueRov2/rc_channel4/set_pwm - std_msgs/UInt16
  • /BlueRov2/rc_channel5/set_pwm - std_msgs/UInt16
  • /BlueRov2/rc_channel6/set_pwm - std_msgs/UInt16
  • /BlueRov2/rc_channel7/set_pwm - std_msgs/UInt16
  • /BlueRov2/rc_channel8/set_pwm - std_msgs/UInt16
  • /BlueRov2/servo1/set_pwm - std_msgs/UInt16
  • /BlueRov2/servo2/set_pwm - std_msgs/UInt16
  • /BlueRov2/servo3/set_pwm - std_msgs/UInt16
  • /BlueRov2/servo4/set_pwm - std_msgs/UInt16
  • /BlueRov2/servo5/set_pwm - std_msgs/UInt16
  • /BlueRov2/servo6/set_pwm - std_msgs/UInt16
  • /BlueRov2/servo7/set_pwm - std_msgs/UInt16
  • /BlueRov2/servo8/set_pwm - std_msgs/UInt16
  • /BlueRov2/setpoint_velocity/cmd_vel - geometry_msgs/TwistStamped
  • /BlueRov2/state - std_msgs/String
  • /rosout - rosgraph_msgs/Log
  • /rosout_agg - rosgraph_msgs/Log

Some commands

# Set manual mode
$ rostopic pub -1 /BlueRov2/mode/set std_msgs/String "manual"
# Arm the vehicle
$ rostopic pub -1 /BlueRov2/arm std_msgs/Bool 1
# Set angular and linear speed
$ rostopic pub -r 4 /BlueRov2/setpoint_velocity/cmd_vel geometry_msgs/TwistStamped "{header: auto, twist: {linear: {x: 10.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}}"
# Set MAIN OUT pwm value
$ rostopic pub -r 4 /BlueRov2/servo1/set_pwm std_msgs/UInt16  1500
# Visualize camera image
$ rosrun image_view image_view image:=/BlueRov2/camera/image_raw
# See ROV state
$ rostopic echo /BlueRov2/state
# Watch battery information
$ rostopic echo /BlueRov2/battery
# IMU information
$ rostopic echo /BlueRov2/imu/data