We are making some major changes to the bluerov-ros-pkg layout and I wanted to introduce those here. The biggest changes are:
The repository itself is no longer a package but contains two packages:
bluerov_apps. The bluerov package contains the launch files to turn on the sub and get it into an ideal state. It also contains the robot description information including models and transforms. The
bluerov_appspackage contains applications like
teleop_joy. This separation allows folks to opt out of the
bluerovpackage if they are using a custom ROV. It also lets folks opt out of the
bluerov_appspackage if they which to avoid the larger list of dependancies that that package will require.
We have moved away from the APM autopilot + APM stack for internal development and are trying out the Pixhawk autopilot + APM stack. The primary motivation for this is because the APM software stack stopped supporting the APM autopilot a long time ago. Since the last version of the APM software which ran on the APM autopilot had major differences with which mavlink messages they supported compared to the latest APM software, the BlueROV ROS package now only supports the latest APM:Sub software which does not work on the APM autopilot.
Documentation is moving from markdown files within the repository and readthedocs to the ROS wiki. The readthedocs.org page has been turned off. Along with this, we will be pushing the BlueROV ROS package through the normal ROS distribution channels, so you should be able to do “sudo apt-get install ros-indigo-bluerov” in the future.
We’d love for you to try this new software out for yourself. We also encourage contributing back through our github repositories.
Questions? Comments? Please let us know!