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ROV Autonomous Inspection System — ROS2 workspace
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Grant 9aa5b5d06f feat(w3): update label to RETURN TO SAFE, point FASTAPI_HOST at deployed rov_api backend 
Button label changed from "ABORT MISSION" to "RETURN TO SAFE" (DIR-5 —
this is an assessed return-to-safe, not an emergency hard-stop). Lives in
the html field, not js.

FASTAPI_HOST (W3_FASTAPI_HOST in js) was found already set to
http://192.168.1.101:8081, the deployed rov_api backend on RPi5:8081 — no
change needed there, already correct.

Endpoint path (/abort), styling, layout, colours, and confirm/countdown
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docs docs: record corrected in-mission recovery intent, top-priority FSM rework, paused W1 button, build fix 2026-07-13 18:13:14 +02:00
src feat(nav-arrival): rov_api safe_zone_reached endpoint + cockpit_bridge failsafe_state variable 2026-07-13 17:12:58 +02:00
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.gitignore Initial workspace — six-package autonomy stack 2026-05-03 09:26:04 +00:00
CLAUDE.md docs: restructure into docs/, CLAUDE.md rules-only, DIR v1.2, handover v2.24 2026-07-11 18:46:58 +02:00
docker-entrypoint.sh Initial workspace — six-package autonomy stack 2026-05-03 09:26:04 +00:00
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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