BlueROV2 ROS2 Driver Barebones Interface

• Originally adapted from https://github.com/patrickelectric/bluerov_ros_playground
• Modularized and re-written for ROS2.
• Barebones driver only, modular and user-readable to add your own snippets.

Requirements

• ROS2
• Pymavlink

Topics

Publishers:

• /bluerov2/altitude
• /bluerov2/battery
• /bluerov2/bottle_pressure
• /bluerov2/imu
• /bluerov2/odometry
• /bluerov2/raw

Subscribers

• /bluerov2/heartbeat
• /bluerov2/set_pwm

Installation

1. Clone this project in your colcon_ws/src.
   • $ git clone https://github.com/bvibhav/bluerov2_interface
2. Go back to your ROS Colcon workspace:
3. Build it:
   • colcon build --event-handlers console_direct+ --cmake-args --symlink-install --packages-select bluerov2_interface
4. Reload your colcon workspace.

Running

ros2 launch bluerov2_interface bluerov2_launch.xml