BlueRov2 LQR stabilization simulation in Matlab and ROS

I’ve designed a LQR controller in Matlab for BlueRov2 stabilization. I’ve searched for possibilities to link Matlab directly to the rov but I can t seem to find anything useful, so I will try using ROS. I want to simulate the controller using bluerov_ros_playground and I’m not sure where to start and what is the right way of doing it. I appreciate any advice you can give me.

1 Like

Hi @davidd, welcome to the forum :slight_smile:

Cool! Interested to know how this performs :smiley:

The BlueROV2 runs our ArduSub firmware, which communicates using the MAVLink protocol. From a quick search of “mavlink matlab”, this could be useful.

For bluerov_ros_playground, I’d recommend you start by reading through this thread, and the relevant resources it links to.