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