Following on from my earlier build post, my original thinking was to use an Adafruit PWM driver / Arduino combo to interface the RPi with the ESC’s and various sensors, using a modified version of the ros_arduino_bridge package.
Is anyone else using the bluerov-ros-pkg with a non APM method of sending PWM signals to the thrusters? My search of the various forums hasn’t turned up anything yet.
I’m keen too to keep a watchful eye on the APM based software developments as this may be a better option. Is there a roadmap for the functionality that is intended to be moved onto the APM? Sensor support? Use of the IMU for stability control?
This is all at a very exciting stage, so keen to be involved in testing etc wherever I can assist.