adsaosdi / bluerov2

BlueROV2 for ROS2 + ignition

BlueROV2 ROS 2

This repository contains the robot description and necessary launch files to describe and simulate the BlueROV2 (unmanned underwater vehicle) with Gazebo and its hydrodynamics plugins under ROS 2.

Requirements

• ROS 2 Garden or newer with ros_gz_bridge (you may have to recompile it from sources)
• simple_launch, installable through apt install ros-${ROS_DISTRO}-simple-launch
• slider_publisher, installable through apt install ros-${ROS_DISTRO}-slider-publisher
• pose_to_tf, to get the ground truth from Gazebo.

Foxy / Ignition

A legacy version using Ignition plugins is available in bluerov2_ignition.

Installation

Clone the package in your ROS 2 workspace src and compile with colcon

Running

To run a demonstration with the vehicle, you can run a Gazebo scenario, such as an empty world with buoyancy and sensors setup:

ros2 launch bluerov2_description world_launch.py

and then spawn the robot with a GUI to control the thrusters:

ros2 launch bluerov2_description upload_bluerov2_launch.py sliders:=true

High-level control

Basic control is available in the auv_control package

In this case spawn the robot without manual sliders and run e.g. a cascaded PID controller:

ros2 launch bluerov2_description upload_bluerov2_launch.py
ros2 launch bluerov2_control cascaded_pids_launch.py sliders:=true

License

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