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ROV Autonomous Inspection System — ROS2 workspace
24 Commits 1 Branch 0 Tags 814 KiB
Python 98.1%
Shell 1%
Dockerfile 0.6%
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Grant du Toit 12b5161436 Add cockpit_bridge node for Cockpit data-lake injection 
- New node bridges ROV topics to Cockpit via Generic WebSocket on :9001
- Sends variableName=value format (Cockpit v1.18+ protocol)
- Variables land in data lake as external/rov-{failsafe,depth,voltage,heading,ms,mp}
- Subscribes: /rov/failsafe, /rov/depth, /mavros/battery,
  /mavros/mavros/compass_hdg, /rov/mission/status
- Added to mission.launch.py and rov_mission entry points
- Verified: Cockpit connects, all 6 external/rov-* vars appear in data lake
2026-06-22 09:37:41 +00:00
src Add cockpit_bridge node for Cockpit data-lake injection 2026-06-22 09:37:41 +00:00
tools Task 11: rewrite publisher as WebSocket server for Cockpit v1.18.0 2026-05-13 05:24:55 +02:00
widgets Task 11: update W2 variable names for WebSocket data path 2026-05-14 06:45:26 +02:00
.gitattributes Add .gitattributes for consistent line endings 2026-05-03 22:22:51 +00:00
.gitignore Initial workspace — six-package autonomy stack 2026-05-03 09:26:04 +00:00
CLAUDE.md docs: add CLAUDE.md with behaviour rules and terminal conventions 2026-05-07 22:35:43 +00:00
docker-entrypoint.sh Initial workspace — six-package autonomy stack 2026-05-03 09:26:04 +00:00
Dockerfile Initial workspace — six-package autonomy stack 2026-05-03 09:26:04 +00:00
README.md Initial workspace — six-package autonomy stack 2026-05-03 09:26:04 +00:00

README.md

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)

# 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)

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