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ROV Autonomous Inspection System — ROS2 workspace
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Grant 4b1766255a feat: implement mission executor with breadcrumb system and failsafe integration 
- Full mission state machine: IDLE/RUNNING/PAUSED/COMPLETE/ABORTED
- Breadcrumb buffer: 1800 entries at 2s interval (1hr coverage)
- Failsafe integration: HOVER=pause, RETURN_TO_SAFE=abort+breadcrumb, EMERGENCY=immediate abort
- Waypoint loading from YAML mission file via LOAD command
- Arrival detection with configurable radius
- Image capture loiter with configurable delay
- Simple proportional navigation toward waypoints (Phase 3+ replaces with full planner)
- Entry point recorded at mission start for safe zone reference
2026-05-07 00:26:12 +00:00
src feat: implement mission executor with breadcrumb system and failsafe integration 2026-05-07 00:26:12 +00:00
.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
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