ROS support for BlueROV2

Blue Robotics Software
,
13

I see now what are you trying to do :thinking:
The rc_channel topic follows rc-input-and-output documentation.

Take a look in the BlueRov2 frame:
image

RC Inputs
These are the default channel mappings for RC input:
Channel	Meaning
1	    Pitch
2       Roll
3	    Throttle
4	    Yaw
5	    Forward
6	    Lateral
7	    Reserved
8	    Camera Tilt
9	    Lights 1 Level
10	    Lights 2 Level

Each /BlueRov2/rc_channelX/set_pwm, where X is the channel number, send a RC value like the joystick.

  • /BlueRov2/rc_channel1: Will not work because the frame doesn’t have pitch control.
  • /BlueRov2/rc_channel2: Will spin 6 and 5
  • /BlueRov2/rc_channel3: Will spin 6 and 5
  • /BlueRov2/rc_channel4: Will spin 1,2,3 and 4 to perform yaw movement
  • /BlueRov2/rc_channel5: Will spin 1,2,3 and 4 to perform forward movement
  • /BlueRov2/rc_channel6: Will spin 1,2,3 and 4 to perform lateral movement
  • /BlueRov2/rc_channel8: Will move the camera servo
  • /BlueRov2/rc_channel9-10: Will change the light state

How the motors spin will depend of the BlueRov mode (guided, stabilize, etc…)

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