underwater_rov_main

Setup

1. Install ROS melodic
2. Install mavros
3. Clone and build this repo

mkdir uw_rov_catkin_ws
cd uw_rov_catkin_ws
git clone [email protected]:Sea-Swindlers/underwater_rov_main.git src
catkin build

Running

roslaunch mavros apm.launch 
rosservice call /mavros/set_stream_rate 0 10 1 # To have apm publish messages to ros.

Dependencies

pip3 install roboticstoolbox-python

Useful Commands

rosrun mavros mavsafety arm
rosrun mavros mavsys mode -c MANUAL
rosrun mavros mavsys mode -c STABILIZE
roslaunch mavros_extras teleop.launch teleop_args:="-rc"

Network Setup

On the jetson:

export ROS_MASTER_URI=http://192.168.4.104:11311

On the laptop:

export ROS_MASTER_URI=http://192.168.4.104:11311
export ROS_IP=192.168.4.104 # or whatever your laptop ip is