I’m working on an 8-thruster ROV (4 horizontal thrusters at 45° for strafing/rotation, 4 vertical for up/down). I want to control it using a joystick with ROS2 Humble on Ubuntu 22.04 (running in a VM).
My joystick is detected (/joy topic works), but I’m having trouble mapping the joystick inputs to all 8 thrusters correctly using teleop_twist_joy and my custom thruster_mixer.
I’m looking for guidance on how to properly configure the nodes and YAML files so that the joystick can move the ROV in all directions (forward/backward, strafe, rotate, up/down).
Has anyone done this before or can provide an example setup?
Hi @alhaskayis -
Welcome to the forums!
I would recommend installing BlueOS, and using ArduSub to control your vehicle - you’d need a Navigator or Pixhawk to provide the ESC PWM outputs, and orientation sensing to the autopilot. From there, you could install a ROS2 BlueOS extension and control the vehicle - either via ROS, or a more traditional GCS (ground control station) software, like Cockpit!
Install the 64 bit BlueOS for the ROS2 extension to be available…
If you only want to use ROS2 on your ubuntu system (you haven’t said what computer you’re running this all on) then that is different enough from a standard Blue Robotics vehicle configuration that I’m not sure we’ll have much support to offer!
