search

clydemcqueen / orca4

ROS2 AUV based on the BlueROV2, ArduSub and Navigation2
MIT License
79 stars 24 forks source link

Instructions for ROV mode #17

Open samiamlabs opened 8 months ago

samiamlabs commented 8 months ago

Hi!

I have been trying to figure out how the ROV mode is supposed to be used from reading the code. My best guess is that it should be possible to connect something like qgroundcontrol with an xbox controller in parallel to the ROS2 system and have that take over when the manager is in ROV mode. Is that correct, or have I misunderstood something?

I think it would be nice if a short explanation of how ROV mode is intended to be used could be added to a README.

clydemcqueen commented 8 months ago

Yes, that's how I do it. I use QGC mainly to provide the joystick driver. QGC connects to mavros: https://github.com/clydemcqueen/orca4/blob/e12c4e1d75de37908f2be9b6d68627987ebc3fbf/orca_bringup/params/sim_mavros_params.yaml#L35

I'm happy for PRs!