Hi @UVEECSoftware -
To clarify, STM32 and MicroROS are not relevant to BlueOS, the Navigator, and ArduPilot. Additionally, no version of ArduPilot is intended for use as a sea glider, but you can likely make use of ArduSub to achieve vehicle navigation, or develop an autopilot from scratch that uses the Navigator / BlueOS hardware.
It is worth noting that most gliders use microcontrollers, not single board computers, because they use an order of magnitude less power - and available power for a glider is critical for long duration missions! So while this hardware/software may be a good approach for a proof-of-concept prototype, it is not likely to work at the typical scale of operations…
If you’re using a Pi, the best route to install BlueOS is simply to flash your SD card with it. By installing inside a docker container in Ubuntu, you’ve blocked the system from reaching the Pi hardware without quite a lot of configuration and hassle.
Once up and running, you can install the ROS extension, or checkout this approach to using ROS2 . There is a user-made ROS2 extension, but it requires you to flash a 64bit, newer version of BlueOS in order to install, and may have some gremlins lurking as it hasn’t been tested thoroughly.