ouyaming/bluerov2

Bluerov2 simulation in ROS

BlueROV2 ROS Simulation

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".

This package was forked from https://github.com/fredvaz/bluerov2, and ported to ROS melodic.

The control of the uuv will be done through simulink; you can find the simulink solution in ./bluerov2_control/MatlabSrc. Do not forget to set your Ros master node ip correctly and tune the pid parameters. The simulink solution used both Ros and control toolbox.

Requirements

• git
• ros-*-desktop-full
  • kinetic or newer
• mavros
• python
  • opencv_python
  • numpy
  • gi, gobject
  • PyYAML
• UUV Simulator

Installation

Clone this package in the src folder of you catkin workspace

cd ~/catkin_ws/src
https://github.com/UUVControl/bluerov2.git

and then build your catkin workspace

cd ~/catkin_ws
catkin_make # or <catkin build>, if you are using catkin_tools

Running with UUV Simulator

To run a demonstration with the vehicle, you can run a UUV simulator Gazebo scenario, such as

roslaunch uuv_gazebo_worlds  ocean_waves.launch

and then

roslaunch bluerov2_description upload_bluerov2.launch

To publish a Ros message on the input topic of one of the thrusters, summon rqt

rqt

And as shown search for one of the thrusters' input and modify the values for pwm.

## Running with SITL - Run ArduPilot SITL

1. [Download ArduPilot and configure SITL](http://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html).
2. `$ cd ardupilot/ArsuSub`
3. `$ sim_vehicle.py`
4. `$ 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

Topics

If you need more information about the topics and what you can access, take a look here.

License

BlueROV2 package is open-sourced under the Apache-2.0 license. See the LICENSE file for details.