BlueRov2 LQR stabilization simulation in Matlab and ROS

[EliotBR (Eliot)]

Hi @davidd, welcome to the forum

@davidd

I’ve designed a LQR controller in Matlab for BlueRov2 stabilization.

Cool! Interested to know how this performs

@davidd

I’ve searched for possibilities to link Matlab directly to the rov but I can t seem to find anything useful

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

@davidd

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.

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