# ROV Thrusters not Running **URL:** \ **Category:** Blue Robotics Software\ **Created:** [July 19, 2024, 3:06pm UTC](https://discuss.bluerobotics.com/t/rov-thrusters-not-running/17486 "2024-07-19T15:06:36Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![liujpatrick](https://avatars.discourse-cdn.com/v4/letter/l/35a633/32.png) [@liujpatrick](https://discuss.bluerobotics.com/u/liujpatrick)\ **Post date:** [July 19, 2024, 3:06pm UTC](https://discuss.bluerobotics.com/t/rov-thrusters-not-running/17486/1 "2024-07-19T15:06:36Z")
## Issue Description I am currently working with ROS 2 and Mavros on a Blue ROV 2 platform. My goal is to control the thrusters using RC override through the /mavros/rc/override topic. I have set up a publisher for this topic, and when running the executable, I encounter no errors. However, none of the thrusters respond to the RC commands. ## Steps to Reproduce Build the ROS 2 package and source it. Run the Python script that subscribes and publishes to /mavros/rc/override. Observe that despite running without errors, the thrusters do not respond to the RC commands sent through the script. ## Expected Behavior I expect that when publishing RC override commands to /mavros/rc/override, the commands should be successfully transmitted and result in controlling the thrusters on the Blue ROV 2. ## Actual Behavior Upon running the script, there are no errors reported. However, none of the thrusters on the Blue ROV 2 respond to the RC commands sent through /mavros/rc/override. Here is my code: ```auto #!/usr/bin/env python3 import rclpy from rclpy.node import Node from mavros_msgs.srv import CommandBool from mavros_msgs.msg import OverrideRCIn from sensor_msgs.msg import Imu from rclpy.qos import QoSProfile, QoSHistoryPolicy, QoSReliabilityPolicy, QoSDurabilityPolicy class BlueROV2Controls(Node): def __init__ (self): super(). __init__ ('bluerov2_controls') qos_profile = QoSProfile( history=QoSHistoryPolicy.KEEP_LAST, depth=3, reliability=QoSReliabilityPolicy.BEST_EFFORT, durability=QoSDurabilityPolicy.VOLATILE ) self.publisher = self.create_publisher( OverrideRCIn, "/mavros/rc/override", qos_profile ) # Subscription to the IMU topic self.imu_subscriber = self.create_subscription( Imu, '/mavros/imu/data', self.imu_callback, qos_profile ) self.cli = self.create_client(CommandBool, '/mavros/cmd/arming') while not self.cli.wait_for_service(timeout_sec=1.0): self.get_logger().info('Waiting for arming service...') self.get_logger().info('Arming service is ready.') self.publisher_timer = self.create_timer(1.0, self.run_sequence) def run_sequence(self): rc_msg = OverrideRCIn() # Step 1: Go down rc_msg.channels = [1500, 1500, 1600, 1500, 1500, 1500, 1500, 1500] self.publisher.publish(rc_msg) self.get_logger().info(f"Step 1: Descend - {rc_msg.channels}") # Wait for a moment rclpy.spin_once(self, timeout_sec=3) # Step 2: Move forward rc_msg.channels = [1600, 1500, 1500, 1500, 1500, 1500, 1500, 1500] self.publisher.publish(rc_msg) self.get_logger().info(f"Step 2: Move forward - {rc_msg.channels}") # Wait for a moment rclpy.spin_once(self, timeout_sec=3) # Step 3: Rotate 180 degrees rc_msg.channels = [1500, 1500, 1500, 1900, 1500, 1500, 1500, 1500] self.publisher.publish(rc_msg) self.get_logger().info(f"Step 3: Rotate 180 - {rc_msg.channels}") # Wait for a moment rclpy.spin_once(self, timeout_sec=3) # Step 4: Move forward (same distance) rc_msg.channels = [1600, 1500, 1500, 1500, 1500, 1500, 1500, 1500] self.publisher.publish(rc_msg) self.get_logger().info(f"Step 4: Move forward - {rc_msg.channels}") # Wait for a moment rclpy.spin_once(self, timeout_sec=3) # Step 5: Ascend rc_msg.channels = [1500, 1500, 1400, 1500, 1500, 1500, 1500, 1500] self.publisher.publish(rc_msg) self.get_logger().info(f"Step 5: Ascend - {rc_msg.channels}") # Wait for a moment and then stop the sequence rclpy.spin_once(self, timeout_sec=3) self.destroy_node() def send_request(self, arm: bool): req = CommandBool.Request() req.value = arm future = self.cli.call_async(req) rclpy.spin_until_future_complete(self, future) if future.result() is not None: self.get_logger().info(f"Request successful: {future.result().success}") else: self.get_logger().error(f"Request failed: {future.exception()}") def imu_callback(self, msg: Imu): """ Callback function for IMU messages. Logs IMU data (orientation, angular velocity, linear acceleration). Parameters: msg (Imu) """ self.imu = msg # self.get_logger().info(f"IMU (Orientation, Angular Velocity, Linear Acceleration): {msg.orientation} {msg.angular_velocity} {msg.linear_acceleration}") # self.get_logger().info(f"IMU Orientation: {msg.orientation}") # self.get_logger().info(f"IMU Angular Velocity: {msg.angular_velocity}") self.get_logger().info(f"IMU Linear Acceleration: {msg.linear_acceleration}") def main(args=None): rclpy.init(args=args) node = BlueROV2Controls() node.send_request(True) # Arm the robot try: rclpy.spin(node) except KeyboardInterrupt: node.get_logger().info('KeyboardInterrupt received, shutting down...') finally: node.send_request(False) # Disarm the robot node.destroy_node() rclpy.shutdown() if __name__ == ' __main__': main() ``` ## Additional Information - No errors are reported during script execution. - The issue persists across multiple attempts and checks of setup and configuration files. - No thrusters respond to the RC override commands despite proper setup of publisher for /mavros/rc/override. ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [August 1, 2024, 7:45am UTC](https://discuss.bluerobotics.com/t/rov-thrusters-not-running/17486/2 "2024-08-01T07:45:38Z")
Hi @liujpatrick, welcome to the forum 🙂 I don’t have experience with using ROS, but from a search of our forums these seem like the most relevant posts/comments: - [T200 python manual control error - #2 by EliotBR](https://discuss.bluerobotics.com/t/t200-python-manual-control-error/11479/2) - [ROS2 on blueOS software - #6 by MorgannLBT](https://discuss.bluerobotics.com/t/ros2-on-blueos-software/14266/6) - [BlueROV2 PWM Thruster Control](https://discuss.bluerobotics.com/t/bluerov2-pwm-thruster-control/11887) Feel free to follow up if those aren’t helpful / if something in particular isn’t clear or isn’t working as expected.