# ROV Autonomy Stack

ROS2 Jazzy workspace for the BlueROV2 Heavy autonomous inspection system.

## Package Structure

| Package | Purpose |
|---|---|
| `rov_interfaces` | Custom messages and services |
| `rov_navigation` | State estimation, EKF, depth |
| `rov_perception` | Camera nodes, feature detection |
| `rov_control` | Motion controller, failsafe monitor |
| `rov_mission` | Mission executor, waypoint sequencing |
| `rov_bringup` | Top-level launch files |

## Quick Start (on RPi5)

```bash
# Pull image from Harbor
docker pull registry.symbytech.com/rov-autonomy/rov-stack:latest

# Run full stack (dev environment)
docker run --rm --network host \
  registry.symbytech.com/rov-autonomy/rov-stack:latest \
  ros2 launch rov_bringup rov_full.launch.py env:=dev blueos_ip:=<RPi4_IP>
```

## Building Locally (on server with buildx)

```bash
docker buildx build --platform linux/arm64 \
  -t registry.symbytech.com/rov-autonomy/rov-stack:dev \
  --push .
```

## Topic Reference

| Topic | Type | Publisher | Subscribers |
|---|---|---|---|
| `/imu/data` | sensor_msgs/Imu | Xsens driver | state_estimator |
| `/mavros/imu/data` | sensor_msgs/Imu | MAVROS | state_estimator |
| `/rov/state` | nav_msgs/Odometry | state_estimator | motion_controller, mission_executor |
| `/rov/cmd_vel` | geometry_msgs/Twist | mission_executor | motion_controller |
| `/rov/failsafe` | rov_interfaces/FailsafeStatus | failsafe_monitor | motion_controller, mission_executor |
| `/rov/mission/status` | rov_interfaces/MissionStatus | mission_executor | web UI |
| `/camera/front/image_raw` | sensor_msgs/Image | camera_node | feature_detector |