I have taken a BlueRov2 chassis but used DIY electronics and control. My approach is a Rasberry PI 3 B + Pi-EzConnect Break Out Board + OzzMaker BerryGPS-IMU. Still a work in progress.
On the surface the ROV is controlled via Node-Red dashboards served up by the ROV itself. This can be driven from any mobile device via a web browser without any software download or having a joystick. The dashboard (again work in progress) is mouse or touch sensitive in terms of switches etc. Thrust direction (360 degrees) and intensity are being driven by a sliding gesture on the black panel which notes where you first place your finger and where you slide it to and how far away. Taking your finger off the panel stops all directional thrust
Other dashboards screens provide gauges and graphs. The drag and drop design of node-red means that design updates are completed very fast.
The intent is to connect the ROV to mobile device (currently WiFi) via a standard router and CAT5 cable.
Tried to post other images but as a new user could only paste one