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bluerov2_hdt

BlueROV2 with HDT arm simulation in UUVSimulator. This repository is in development.

Installation

cd ~/catkin_ws/src
# git clone -b realistic-sonar-sim-48 https://github.com/NickSadjoli/uuv_simulator.git 
git clone https://github.com/uuvsimulator/uuv_simulator.git
git clone https://github.com/wangcongrobot/uuv_hdt_manipulator.git
git clone https://github.com/wangcongrobot/bluerov2.git
git clone https://github.com/YanielCarreno/orcawp1_integration.git
git clone https://github.com/pal-robotics/aruco_ros.git
git clone https://github.com/wangcongrobot/bluerov2_hdt.git
cd ..
catkin_make
source devel/setup.bash

Examples

Launch the bluerov2_hdt with gazebo underwater scene:

roslaunch bluerov2_hdt integration_scenario_bluerov2.launch

Move the hdt arm:

rosrun bluerov2_hdt move_arm.py

Send a trajectory to bluerov2:

roslaunch uuv_control_utils send_waypoints_file.launch uuv_name:=bluerov2

Publish the ground truth of bluerov2 absolute pose:

roslaunch bluerov2_hdt get_link_pose_in_gazebo.launch

  • Move BlueROV2 and HDT arm: bluerov2_hdt_ocrasim

  • ArUco marker detection: aruco_detection

  • You can use keyboard to control the bluerov2: keyboard

License

bluerov2_hdt is open-sourced under the Apache-2.0 license. See the LICENSE file for details.