The build of a New Zealand ROV has begun!
While waiting for the thrusters to arrive I thought I'd make a start on the 'brains' and thruster control. So far all working fine in dry tests using the Bluerobotics ROS package with simple_pilot. Quick picture attached - still to fix the esc's to the frame once thrusters are wired in.
Still not 100% set on the frame design, though keen to go with a vectored thruster set-up similar to TCIII as this appears to be the preferred layout for maximum manoeuvrability.
Next steps are to finalise a frame design and work on the code - though I found Rusty's helpful kickstart on the thruster coding here: code
Currently researching options for fixing the corner thrusters to the frame e.g. directly bolting to frame strut, using S/S hoseclamps or building some sort of custom mount. Frame will most likely be PVC or aluminium tubing or a combination of the two. Any suggestions welcome.
Getting very excited now!
On a complete tangent - just got back from a business trip to Washington DC and managed to free a couple of hours to visit the Smithsonian Air & Space museum - very impressive! A great encouragement to keep tinkering with stuff. It's a brave man who'll come hurtling back from space in the attached.