Application: iBlueROV_CommandAndControl

Brief Synopsis:

Sending MOOS commands to BlueROV2 via Mavlink.

Authors:

  • Supun Randeni

Groups:

Distribution:

Documentation:

Contact Email:

  • supun@mit.edu

Function:

iBlueROV_CommandAndControl is a MOOS app that can be run on the Raspberry Pi Companion Computer onboard the BlueROV2. The app is able to send MOOS based commands to BlueROV2 via Mavlink. MOOS commands include arming/disarming, mode changing (i.e. MANUAL, AUTO, GUIDED, DEPTHHOLD, STABILIZED modes) and, desired depth, heading and speed commands. The autonomous modes of BlueROV2 (i.e. AUTO and GUIDED modes) are not stable at the time of writing; therefore, desired commands are sent in DEPTHHOLD mode as thrust inputs, computed by a low level control system within iBlueROV_CommandAndControl. This app was initially developed to send commands to BlueROV by MIT’s Autonomous Surface Vehicle (ASV), REx4. The BlueROV was connected to REx4 using an automated winch and MOOS commands were sent from REx4’s MOOSDB to the ROV’s MOOSDB using pShare.