47 lines
1.6 KiB
Markdown
47 lines
1.6 KiB
Markdown
# ROV Autonomy Stack
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ROS2 Jazzy workspace for the BlueROV2 Heavy autonomous inspection system.
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## Package Structure
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| Package | Purpose |
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|---|---|
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| `rov_interfaces` | Custom messages and services |
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| `rov_navigation` | State estimation, EKF, depth |
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| `rov_perception` | Camera nodes, feature detection |
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| `rov_control` | Motion controller, failsafe monitor |
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| `rov_mission` | Mission executor, waypoint sequencing |
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| `rov_bringup` | Top-level launch files |
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## Quick Start (on RPi5)
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```bash
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# Pull image from Harbor
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docker pull registry.symbytech.com/rov-autonomy/rov-stack:latest
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# Run full stack (dev environment)
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docker run --rm --network host \
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registry.symbytech.com/rov-autonomy/rov-stack:latest \
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ros2 launch rov_bringup rov_full.launch.py env:=dev blueos_ip:=<RPi4_IP>
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```
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## Building Locally (on server with buildx)
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```bash
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docker buildx build --platform linux/arm64 \
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-t registry.symbytech.com/rov-autonomy/rov-stack:dev \
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--push .
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```
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## Topic Reference
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| Topic | Type | Publisher | Subscribers |
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| `/imu/data` | sensor_msgs/Imu | Xsens driver | state_estimator |
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| `/mavros/imu/data` | sensor_msgs/Imu | MAVROS | state_estimator |
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| `/rov/state` | nav_msgs/Odometry | state_estimator | motion_controller, mission_executor |
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| `/rov/cmd_vel` | geometry_msgs/Twist | mission_executor | motion_controller |
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| `/rov/failsafe` | rov_interfaces/FailsafeStatus | failsafe_monitor | motion_controller, mission_executor |
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| `/rov/mission/status` | rov_interfaces/MissionStatus | mission_executor | web UI |
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| `/camera/front/image_raw` | sensor_msgs/Image | camera_node | feature_detector |
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