Camera and Light Control with Mavros

Blue Robotics Software
1

Hey Blue Robotics,

I am interested in controlling the lights and camera tilt of the BlueROV through mavros. I have the heavy addition of the BlueROV2 so my lights and camera servo are connected to the aux outputs of the BlueROV. I was thinking to use mavros_msgs/ActuatorControl Documentation but I was not sure if Ardusub supported this. Also, I was not sure what group mix value I would use in the message or the range is acceptable in the controls list of the message.
I have been looking at this github link. GitHub - patrickelectric/bluerov_ros_playground: Scripts to help BlueRov integration with ROS but there does not seem to be any implementation of what I am talking about. I was wondering if you guys have any idea about this or if this is possible right now.

Thanks,
Brandon

2

Hi Darrel,

The easier way to accomplish what are you looking for is to use the manual control topic to send camera tilt and light inputs.

3

Okay, but how do you do that because the message structure of the ManualControl message does not make it clear.

mavros_msgs/ManualControl

std_msgs/Header header
float32 x
float32 y
float32 z
float32 r
uint16 buttons

Or if you know where any documentation for this would be that would be helpful.

Thank you,
Brandon

4

See here
https://mavlink.io/en/messages/common.html#MANUAL_CONTROL

5

Okay, thanks. according to that documentation in looks looks like it is for vehicle control. Is there a way to use that specifies light and camera control. Thank you.

6

Hi Darrel,

Check your vehicle configuration and the joystick button that is used to control the light, you can use this same button in MANUAL_CONTROL message. There is no message for light control.

7

Cool, thank you. I think that this will work for me

8

I have gotten this method to work. Do you know of a way to monitor the position (or pwm signal) of the camera while it is attached to the aux outputs?

9

Hi Darrel,

Take a look in SERVO_OUTPUT_RAW message.

The aux channels (9+) are not available due to a bug:
https://github.com/ArduPilot/ardupilot/issues/9799

10

Hey Patrick,

Okay, thanks for letting me know.

Brandon