Hi all, I want to develop a controller in ROS for the Bluerov2, and I decided to first start developing the code using SITL. I did the following procedure to start controlling the ROV: Run sim_vehicle.py from ~/…/ardupilot/ArduSub Launched gazebo with roslaunch bluerov_ros_playground gazebo_sitl…

Hi Olaya, You should be able to control the ROV in guided mode with SITL, the model does have a “GPS” integrated, you can check the position information in /mavros/global_position/ and /mavros/local_position/, can you share your code or tell how are you publishing to the cmd_vel topic ? Just to m…

Hi Patrick, That was a real quick answer! I edited the post because cmd_vel finally worked, but the question about controlling the real rov still remains! I want to do an autonomous controller from the computer (without using the joystick), in all the coordinates, not only the attitude. I know it…

Hi Olaya, Sorry for answering to quickly, hehe. If you have a camera or any sensor that can provide a position information for the ROV, you can create your own position system for the guided mode, check GPS_INPUT message . Note: cmd_vel will only work with GPS modes (like GUIDED).

Nothing to be sorry about :wink: So, to be clear, if I want to use GPS modes without GPS, I can/have send a fake GPS message according to that documentation. Otherwise, I have to use rc/override. Where can I see in my ROV the code with the mapping of the rc message to the rov commands? (not sure …

Hi Olaya, [image] olaya: So, to be clear, if I want to use GPS modes without GPS, I can/have send a fake GPS message according to that documentation. Otherwise, I have to use rc/override. Exactly. [image] olaya: Where can I see in my ROV the code with the mapping of the rc message to t…

I have no interest in sending velocity commands, I want to actually override my rc in SITL but the vehicle is not responding to any input, what can I do?

Ros + Gazebo SITL : rc/override vs cmd_vel?

Blue Robotics Software

patrickelectric (Patrick José Pereira) May 28, 2019, 11:13am 8

Answered in Gazebo ARDUSUB SITL+MAVROS RC OVERRIDE ISSUE.
Please avoid multiple posts with the same question.

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Ros + Gazebo SITL : rc/override vs cmd_vel?

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