Blue :ocean:

Blue is a ROS 2 pipeline designed to support development, testing, and deployment of underwater vehicles. To get started with Blue, please refer to the project documentation.

Main Features

The main features of Blue include:

• Support for custom controllers implemented using auv_controllers and localization algorithms implemented using marine_localization
• Vehicle models and configurations for simulation using Gazebo
• CI/CD pipelines to help you deploy your software in the same environment that you performed development and testing in
• A development environment that includes many of the tools that you need to develop software for underwater vehicles

Citation

If you find Blue to be helpful in your work, please consider citing our paper:

@inproceedings{palmer2024angler,
  author={Palmer, Evan and Holm, Christopher and Hollinger, Geoffrey},
  title={{Angler: An Autonomy Framework for Intervention Tasks with Lightweight Underwater Vehicle Manipulator Systems}},
  booktitle={IEEE International Conference on Robotics and Automation},
  year={2024}
}

Getting help

If you have questions regarding usage of Blue or regarding contributing to this project, please ask a question on our Discussions board!

License

Blue is released under the MIT license.