# ROS support for BlueROV2 **URL:** \ **Category:** Blue Robotics Software\ **Tags:** ardusub, simulate\ **Created:** [October 2, 2017, 12:28pm UTC](https://discuss.bluerobotics.com/t/ros-support-for-bluerov2/1550 "2017-10-02T12:28:08Z")\ **Posts on this page:** 1\ **Showing post:** 13
**Author:** ![patrickelectric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/patrickelectric/32/2162_2.png) [@patrickelectric](https://discuss.bluerobotics.com/u/patrickelectric)\ **Post date:** [February 12, 2018, 4:35pm UTC](https://discuss.bluerobotics.com/t/ros-support-for-bluerov2/1550/13 "2018-02-12T16:35:10Z")
I see now what are you trying to do 🤔 The `rc_channel` topic follows [rc-input-and-output](https://www.ardusub.com/operators-manual/rc-input-and-output.html) documentation. Take a look in the BlueRov2 frame: ![image](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/2X/8/8e9b34f00af090719228ddfd00c230a0961c4f7c.png) ```auto 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…) --- _[View the full topic](https://discuss.bluerobotics.com/t/ros-support-for-bluerov2/1550)._