BlueRov-ROS-playground

Scripts to help BlueRov integration with ROS. What is possible ?

• Video streaming capture with opencv
• Read and write over mavlink protocol with MAVROS
• Joystick interaction
• Gazebo simulation

Getting Started

Requirements

• git
• ros-*-desktop-full
  • kinetic or newer
• mavros
• python
  • opencv_python
  • numpy
  • gi, gobject
  • PyYAML
• freefloating_gazebo

Installation

1. Go to your ROS package source directory:
   • $ cd ros_workspace_path/src
2. Clone this project.
   • $ git clone https://github.com/patrickelectric/bluerov_ros_playground
3. Go back to your ROS workspace:
   • $ cd ../
4. Build and install it:
   • $ catkin_make --pkg bluerov_ros_playground
   • if using ROS from source:
     • $./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --pkg bluerov_ros_playground
5. Reload your ROS env.
   • bash: $ source devel/setup.sh
   • zsh: $ source devel/setup.sh

Running

• BlueRov2 node

  For more information check here.

• Launch user example

  This example will start user example, reading data from mavlink, interacting with joystick over rc commands and showing ROV video stream.

  • roslaunch bluerov_ros_playground user_mav.launch

  To run QGC parallel with user_mav, it's necessary to run user_mav first. If it's necessary to change the input, the parameter joy_dev can be used to set the one used.

• Visualize video stream

  Shows video stream using opencv and gstreamer

  • roslaunch bluerov_ros_playground video.launch

  To capture video stream in user_mav/video and QGC at same time, it's necessary to modifie gstreamer options, changing ! udpsink host=192.168.2.1 port=5600 to ! multiudpsink clients=192.168.2.1:5600,192.168.2.1:5601 and add the udp_port parameter when calling roslaunch (video_udp_port:=5601).

• Gazebo

  This example allow SITL communication with Gazebo, right now the only interaction that happen is the thruster control using thruster pwm fitting.

  • Run SITL and start gazebo.launch
  • roslaunch bluerov_ros_playground gazebo.launch

• Gazebo Teleop

  It'll open a window with the camera stream and Gazebo, a joystick can be used to control the ROV.

  • roslaunch bluerov_ros_playground gazebo_teleop.launch

  To change the default joystick input (/dev/input/js0), it's possible add the parameter joy_dev:=/dev/input/jsX when launching the simulation.

• RVIZ

  Visualize 3D model

  • roslaunch bluerov_ros_playground rviz.launch

Running with SITL

• Run ArduPilot SITL

  1. Download ArduPilot and configure SITL.
  2. $ cd ardupilot/ArsuSub
  3. $ sim_vehicle.py
  • To test mavros communication with SITL:
    • $ roslaunch mavros apm.launch fcu_url:=udp://0.0.0.0:14550@

• Fake video stream

  • $ gst-launch-1.0 videotestsrc ! video/x-raw,width=640,height=480 ! videoconvert ! x264enc ! rtph264pay ! udpsink host=127.0.0.1 port=5600
    • If necessary, change video source and resolution.
    • To test the udp reception: gst-launch-1.0 -v udpsrc port=5600 ! application/x-rtp, payload=96 ! rtpjitterbuffer ! rtph264depay ! avdec_h264 ! fpsdisplaysink sync=false text-overlay=false

Topics

If you need more information about the topics and what you can access, take a look here.

Software Layer Diagram

                      +-----------------------+         +------------------------+
                      |     Raspberry Pi      |         |    Topside Commputer   |
                      |    ip 192.168.2.2     |         |     ip 192.168.2.1     |
                      |                       |         |                        |
+-------+  Telemetry  | +-------------------+ |         |                        |
|Pixhawk<-------------->USB         MAVProxy| |         |                        |
+-------+    Pilot    | +                   + |         | +--------------------+ |
            Control   | |            udpbcast<----------->:14550         MAVROS| |
                      | +-------------------+ |  Pilot  | |(UDP)               | |
                      |                       | Control | |                    | |
                      | +-------------------+ |         | |       (ROS)        | |
+---------+           | CSI+2       raspivid| |         | +------+/mavros+-----+ |
|Raspberry+------------>camera              | |         |           ^            |
| Camera  |           | port                | |         |           |            |
+---------+           | +                   | |         | +---------v----------+ |
                      | |                   | |         | |subs.py      pubs.py| |
                      | +------------+stdout+ |         | |                    | |
                      |                  +    |         | |                    | |
                      |             Raw  |    |         | |                    | |
                      |             H264 |    |         | |                    | |
                      |                  v    |         | |      user.py       | |
                      | +------------+ fdsrc+ |         | |                    | |
                      | |gstreamer          | |         | |                    | |
                      | |                   + |         | :5600 video.py       | |
                      | |             udpsink+----------->(UDP)                | |
                      | +-------------------+ |  Video  | +---------^----------+ |
                      |                       | Stream  |           |            |
                      +-----------------------+         |           +            |
                                                        | +--------/joy--------+ |
                                                        | |joy     (ROS)       | |         +--------+
                                                        | |                  USB<----------+Joystick|
                                                        | +--------------------+ |  Pilot  +--------+
                                                        |                        | Control
                                                        +------------------------+