Attention! It's in development
This repository contains the robot description and necessary launch files to simulate the BlueROV2 (unmanned underwater vehicle) on Unmanned Underwater Vehicle Simulator (UUV Simulator). Additional it's possible run BlueROV2 in SITL using mavros, joystick interaction and video streaming capture with opencv based on bluerov_ros_playground package from BlueRobotics.
This work is in development at Ingeniarius, Lda. and Instituite of Systems and Robotics University of Coimbra within the scope of MS thesis "Localization of an unmanned underwater vehicle using multiple water surface robots, multilateration, and sensor data fusion".
- git
- ros-*-desktop-full
- kinetic or newer
- mavros
- python
- opencv_python
- numpy
- gi, gobject
- PyYAML
- UUV Simulator
Clone this package in the src folder of you catkin workspace
cd ~/catkin_ws/src
git clone git@github.com:tsaoyu/bluerov2.git
and then build your catkin workspace
cd ~/catkin_ws
catkin_make # or <catkin build>, if you are using catkin_toolsTo run a demonstration with the vehicle, you can run a UUV simulator Gazebo scenario, such as
roslaunch uuv_gazebo_worlds ocean_waves.launchand then
roslaunch bluerov2_gazebo start_pid_controller_demo.launch -
Run ArduPilot SITL
- Download ArduPilot and configure SITL.
$ cd ardupilot/ArsuSub$ sim_vehicle.py$ roslaunch bluerov2_gazebo start_ardusub_sitl_demo.launch
-
Fake video stream
$ gst-launch-1.0 videotestsrc ! video/x-raw,width=640,height=480 ! videoconvert ! x264enc ! rtph264pay ! udpsink host=127.0.0.1 port=5600- If necessary, change video source and resolution.
- To test the udp reception:
gst-launch-1.0 -v udpsrc port=5600 ! application/x-rtp, payload=96 ! rtpjitterbuffer ! rtph264depay ! avdec_h264 ! fpsdisplaysink sync=false text-overlay=false
+-----------------------+ +------------------------+
| Raspberry Pi | | Topside Commputer |
| ip 192.168.2.2 | | ip 192.168.2.1 |
| | | |
+-------+ Telemetry | +-------------------+ | | |
|Pixhawk<-------------->USB MAVProxy| | | |
+-------+ Pilot | + + | | +--------------------+ |
Control | | udpbcast<----------->:14550 MAVROS| |
| +-------------------+ | Pilot | |(UDP) | |
| | Control | | | |
| +-------------------+ | | | (ROS) | |
+---------+ | CSI+2 raspivid| | | +------+/mavros+-----+ |
|Raspberry+------------>camera | | | ^ |
| Camera | | port | | | | |
+---------+ | + | | | +---------v----------+ |
| | | | | |subs.py pubs.py| |
| +------------+stdout+ | | | | |
| + | | | | |
| Raw | | | | | |
| H264 | | | | | |
| v | | | user.py | |
| +------------+ fdsrc+ | | | | |
| |gstreamer | | | | | |
| | + | | :5600 video.py | |
| | udpsink+----------->(UDP) | |
| +-------------------+ | Video | +---------^----------+ |
| | Stream | | |
+-----------------------+ | + |
| +--------/joy--------+ |
| |joy (ROS) | | +--------+
| | USB<----------+Joystick|
| +--------------------+ | Pilot +--------+
| | Control
+------------------------+
If you need more information about the topics and what you can access, take a look here.
BlueROV2 package is open-sourced under the Apache-2.0 license. See the LICENSE file for details.