Ardusub on BlueRov2 (heavy) making jittery movement in lateral direction when using RC_OVERRIDE

Blue Robotics Software
1

This is best visible at 0:07 and 0:44 in the video. When publishing any message for lateral movement e.g [1500,1500,1500,1500,1500,1800,1500,1500] to the topic: /mavros/rc/override, the robot jitters and does not move smoothly in the lateral direction.

The example in the video is using a pid controller which is using the marker board as a reference to change the setpoint. But I’ve tested this by just publishing [1500,1500,1500,1500,1500,1800,1500,1500] with the controller off and I’ve gotten the same behavior. Is there anything that would cause this?

We are running QGC on a laptop that is connected to the same network but all of the nodes are running on an Odriod on the rov. The laptop does have a controller connected to it to take over if the robot is about to harm itself.

Let me know if there is anything else about the entire setup that you need to know about.

Link to Video

2

Hi,

The problem here is that QGC is sending:
[1500,1500,1500,1500,1500,1500,1500,1500]
And your codes is sending:
[1500,1500,1500,1500,1500,1800,1500,1500]

At the same time, this will result in the jitters behavior that you are seeing.
Try to disable QGC joystick or remove the joystick to check if this is the problem.

3

Hey Patrick,

Thanks for the quick response, Ill give that a shot and get back to you.

Any idea why that wouldn’t affect the other degrees of freedom? I didn’t have any type of jitter when changing depth or going forwards and backwards

4

Setting the joystick in QGC to output at 1hz seemed to help. I would still like to have some way to disable the robot in case it needs E-Stop. Is there anything that would help me do that?