BlueROV2 ROS Simulation

Attention! It's in development

This repository contains the robot description and necessary launch files to simulate the BlueROV2 (unmanned underwater vehicle) on Unmanned Underwater Vehicle Simulator (UUV Simulator). Additional it's possible run BlueROV2 in SITL using mavros, joystick interaction and video streaming capture with opencv based on bluerov_ros_playground package from BlueRobotics.

This work is in development at Ingeniarius, Lda. and Instituite of Systems and Robotics University of Coimbra within the scope of MS thesis "Localization of an unmanned underwater vehicle using multiple water surface robots, multilateration, and sensor data fusion".

Requirements

• git
• ros-*-desktop-full
  • kinetic or newer
• mavros
• python
  • opencv_python
  • numpy
  • gi, gobject
  • PyYAML
• UUV Simulator

Installation

Clone this package in the src folder of you catkin workspace

cd ~/catkin_ws/src
git clone git@github.com:tsaoyu/bluerov2.git

and then build your catkin workspace

cd ~/catkin_ws
catkin_make # or <catkin build>, if you are using catkin_tools

Running with UUV Simulator

To run a demonstration with the vehicle, you can run a UUV simulator Gazebo scenario, such as

roslaunch uuv_gazebo_worlds ocean_waves.launch

and then

roslaunch bluerov2_gazebo start_pid_controller_demo.launch 

Running with SITL

• Run ArduPilot SITL

  1. Download ArduPilot and configure SITL.
  2. $ cd ardupilot/ArsuSub
  3. $ sim_vehicle.py
  4. $ roslaunch bluerov2_gazebo start_ardusub_sitl_demo.launch

• Fake video stream

  • $ gst-launch-1.0 videotestsrc ! video/x-raw,width=640,height=480 ! videoconvert ! x264enc ! rtph264pay ! udpsink host=127.0.0.1 port=5600
    • If necessary, change video source and resolution.
    • To test the udp reception: gst-launch-1.0 -v udpsrc port=5600 ! application/x-rtp, payload=96 ! rtpjitterbuffer ! rtph264depay ! avdec_h264 ! fpsdisplaysink sync=false text-overlay=false

Diagram of the software components

                      +-----------------------+         +------------------------+
                      |     Raspberry Pi      |         |    Topside Commputer   |
                      |    ip 192.168.2.2     |         |     ip 192.168.2.1     |
                      |                       |         |                        |
+-------+  Telemetry  | +-------------------+ |         |                        |
|Pixhawk<-------------->USB         MAVProxy| |         |                        |
+-------+    Pilot    | +                   + |         | +--------------------+ |
            Control   | |            udpbcast<----------->:14550         MAVROS| |
                      | +-------------------+ |  Pilot  | |(UDP)               | |
                      |                       | Control | |                    | |
                      | +-------------------+ |         | |       (ROS)        | |
+---------+           | CSI+2       raspivid| |         | +------+/mavros+-----+ |
|Raspberry+------------>camera              | |         |           ^            |
| Camera  |           | port                | |         |           |            |
+---------+           | +                   | |         | +---------v----------+ |
                      | |                   | |         | |subs.py      pubs.py| |
                      | +------------+stdout+ |         | |                    | |
                      |                  +    |         | |                    | |
                      |             Raw  |    |         | |                    | |
                      |             H264 |    |         | |                    | |
                      |                  v    |         | |      user.py       | |
                      | +------------+ fdsrc+ |         | |                    | |
                      | |gstreamer          | |         | |                    | |
                      | |                   + |         | :5600 video.py       | |
                      | |             udpsink+----------->(UDP)                | |
                      | +-------------------+ |  Video  | +---------^----------+ |
                      |                       | Stream  |           |            |
                      +-----------------------+         |           +            |
                                                        | +--------/joy--------+ |
                                                        | |joy     (ROS)       | |         +--------+
                                                        | |                  USB<----------+Joystick|
                                                        | +--------------------+ |  Pilot  +--------+
                                                        |                        | Control
                                                        +------------------------+

Topics

If you need more information about the topics and what you can access, take a look here.

License

BlueROV2 package is open-sourced under the Apache-2.0 license. See the LICENSE file for details.