# How to use ArduPilot using bluerov-ros-pkg

**URL:** https://discuss.bluerobotics.com/t/how-to-use-ardupilot-using-bluerov-ros-pkg/216
**Category:** Blue Robotics Software
**Created:** [February 22, 2016, 9:08am UTC](https://discuss.bluerobotics.com/t/how-to-use-ardupilot-using-bluerov-ros-pkg/216 "2016-02-22T09:08:12Z")
**Posts on this page:** 2
**Page:** 1

<div class="post-metadata">

### Author: ![lukych92](https://avatars.discourse-cdn.com/v4/letter/l/71c47a/32.png) [@lukych92](https://discuss.bluerobotics.com/u/lukych92)
#### Post date: [February 22, 2016, 9:08am UTC](https://discuss.bluerobotics.com/t/how-to-use-ardupilot-using-bluerov-ros-pkg/216/1 "2016-02-22T09:08:12Z")

</div>

Hello!

My name is Lukas and I’m building my own ROV using bluerov-ros-pkg. I cannot find an information, at which topic I should publish to control thrusters through ArduPilot? I would like to replace xbox gamepad insited of Hoats joystick, because I think that I can get better move control of the ROV and I need that information.

---

<div class="post-metadata">

### Author: ![jwalser](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/jwalser/32/2234_2.png) [@jwalser](https://discuss.bluerobotics.com/u/jwalser)
#### Post date: [February 27, 2016, 1:44am UTC](https://discuss.bluerobotics.com/t/how-to-use-ardupilot-using-bluerov-ros-pkg/216/2 "2016-02-27T01:44:32Z")

</div>

The teleop\_joy node publishes rc commands on \<span class=“pl-s”\>/mavros/rc/override\</span\>. [bluerov-ros-pkg/teleop\_joy.cpp at master · bluerobotics/bluerov-ros-pkg · GitHub](https://github.com/bluerobotics/bluerov-ros-pkg/blob/master/bluerov_apps/src/teleop_joy.cpp#L68)

It is possible to use a different joystick, but the buttons will probably have to be remapped.

I would suggest at least trying it with an xbox controller first because they are inexpensive, handheld, and control of the rov is actually quite easy.

-Jacob