show：no SYS_STATUS data
no SERVO_OUTPUT_RAW data
no ATTITUDE data
no LOCAL_POSITION_NED data

Good morning.

I tried to turn on the bluerov lights through some of the topics here https://github.com/patrickelectric/bluerov_ros_playground/blob/master/src/bridge/README.md but it does not work. Do you know a way to turn on the lights with ros?

http://ardupilot.org/dev/docs/using-gazebo-simulator-with-sitl.html

Hello Patrick,

I tried installing your simulator for BlueROV2. The whole process took me a while because I'm new to ROS.

When everything was installed and running I tried to access the BlueROV nodes via the following command:

roslaunch bluerov_ros_playground bluerov2_node.launch

Unfortunately, I got the following error:

I google it and tried a few things but I cannot make it work. I would appreciate your help.

Thanks in advance!

When doing
roslaunch bluerov_ros_playground video.launch,
The following error appears:

Traceback (most recent call last):
File "/catkin_ws/src/bluerov_ros_playground/src/bluerov/bin/video", line 3, in
import bluerov.video as Video
ImportError: No module named bluerov.video

However, I checked that the imported modules are in its place, and they are. I'm not sure if it is a problem of mine or maybe the import is done wrong.

Light in robots appear to be possible since the beginning of this year with gazebo7.
The PR that add this functionality can be seen here.
It was not possible to add the lights in the actual model, need more research to solve this problem.
It appear that the light need to be declared in to be used in , but this is only a speculation.

Hi,

I'm running ubuntu18 for this. When I launch the sub through roslaunch, the sub instantly sinks, and keeps sinking. No commands I publish to mavros seem to work. What should I do?

Hello, I have a problem and I hope you can help me with the command roslaunch bluerov_ros_playground rviz.launch I get the following error:

Cannot load command parameter [robot_description]: no such command [['/opt/ros/noetic/share/xacro/xacro.py', '--inorder', '/catkin_ws/src/bluerov_ros_playground-master/model/BlueRov2.urdf.xacro']].

I am using NOETIC and ubuntu 20, I don't know if this is a problem, thank you very much.

Hi,when i run the ros_node to view image,i found the image from topic "/camera/image_raw" is caton.And there is high picture delay when the bluerov move.So that i can't use the image to run the orbslam2.Could you please give me some advice?Thank you!

Hi~
I'm using this package to run open-source SLAM algorithms but I haven't got any underwater video except mosaics on the /image_raw window, the ROV can not move by joystick in GAZEBO either, and after I click the "play" button on GAZEBO GUI, the ROV disappears soon ...

My system env:

~ Ubuntu 16.04 64bit + ROS-Kinetic
~ 16G RAM+i5 4210U+ integrated graphics chip + xbox360 joystick (test ok)

My cmd lines:

1. run bluerov node:
   $ roslaunch bluerov_ros_playground bluerov2_node.launch bluerov_node_device:=udp:localhost:14550
2. Visualize video stream:
   $ roslaunch bluerov_ros_playground video.launch
   3.Run SITL and start gazebo.launch:
   $ cd ardupilot/ArsuSub
$ sim_vehicle.py
$ gst-launch-1.0 videotestsrc ! video/x-raw,width=640,height=480 ! videoconvert ! x264enc ! rtph264pay ! udpsink host=127.0.0.1 port=5600
$ roslaunch bluerov_ros_playground gazebo_teleop.launch

The README.md confuses me and I would be appreciated if you can help.

Some messages may be needed more frequently, that's why MAV_CMD_SET_MESSAGE_INTERVAL may be useful

I am attempting to control an ROV with mavROS. I have Ardusub code running on a Pixhawk 4. On the topside I am running mavROS to facilitate camera input amongst other sensor streams and provide the ROS specific implementation of Mavlink. I am publishing messages to mavROS topics using an XBox controller.

My startup command in terminal is:

'roslaunch bluerov_ros_playground user_mav.launch'

I am getting perfect control of my 8 existing ROV thrusters using the 2 joysticks on the XBox controller. What I would like to do is add 2 more thrusters that only need stepwise speed control via 2 buttons on the controller (RB and RT). The commands would simply be step up speed in a clockwise direction on both thrusters or step up speed in the anticlockwise direction on both thrusters.

In 'src/bluerov/user.py', the commands for the 8 existing thrusters are sent to the Pixhawk via the ROS topic 'RCOverrideIn'. This data array for this topic is full however. How do I create an equivalent topic on which to publish the commands for my additional 2 thrusters?

I have tried adding in code like:

            if buttons[5] == 1: # Both Additional Motors Speed Up Clockwise
                thrust = [0.5] # THIS IS AN ARBITRARY VALUE BETWEEN 0 and 1 for now
                self.pub.set_data('/mavros/setpoint_attitude/thrust', thrust)

but I am not sure if the Thrust topic is the ideal one to be using.

Any help much appreciated! Also I am new to ROS, apologies for the noob questions in advance.

Dear patrick:
roslaunch bluerov_ros_playground bluerov2_node.launch bluerov_node_device:=udp:192.168.2.1:14550
roslaunch bluerov_ros_playground control.launch bluerov_node_device:=udp:192.168.2.1:14550
The above two instructions are executed, these topics that /BlueRov2/servo1/set_pwm, /BlueRov2/servo2/set_pwm, /BlueRov2/servo3/set_pwm, /BlueRov2/servo4/set_pwm, /BlueRov2/servo5/set_pwm, /BlueRov2/servo6/set_pwm, /BlueRov2/servo7/set_pwm and /BlueRov2/servo8/set_pwm can not be found by the commander that rostopic list.
Thank you very much!
Best wishes to you!

When launching the bluerov2 node by doing:
roslaunch bluerov_ros_playground bluerov2_node.launch(there's a mistake in the README, where bluerov_node is called)

The following text appears in the console:

no BATTERY_STATUS data
no HEARTBEAT data
no SCALED_IMUX data
no LOCAL_POSITION_NED data
no SCALED_IMUX data
no LOCAL_POSITION_NED data

After that, I echoed the topics /BlueRov2/battery, /BlueRov2/imu/data, and odometry, and nothing happens. Maybe they aren't supposed to publish anything?
However, the image and state topics are publishing the topics well.

On the other hand, when launching
roslaunch bluerov_ros_playground user_mav.launch
the imu data is correctly displayed in the topic /mavros/imu/data (with a very high error in the Z axis, though).

Start SITL: sim_vehicle.py
Start mavros: roslaunch mavros apm.launch fcu_url:=udp://0.0.0.0:14550@
Start rqt_plot: rqt_plot /mavros/local_position/odom/twist/twist/angular:x:y:z
The angles are in radians !

Hello,
I had to reinstall the ROS packages and dependencies for ROS (ros noetic) on a new virtual machine and run into unforseen issues compared to the previous build (around january 2024). The build is exactly as the instructions says in the bluerov_ros_playground README. Nothing more has been added.

First of all, Mavros_extras had troubles getting built but I did a workaround to solve the compiling problem.
The issue was GPS2_RAW finding undefined mav_msgs in in /mavros_extras/src/plugins/gps_status.cpp and the solution was to comment out everything containing GPS2_RAW.

Second of all, I wanted to recall that upon launching the gazebo or the gazebo teleop, the BlueROV2 floats on top of the water.
In my case, it plummets.

Is there anyone that has this issue during an install and have solved it?
If yes, how did you do it.

It appears that libArduPilotPlugin.so and libArduCopterPlugin.so do ardupilot-gazebo bridge,
the first one is a new concept done by @khancyr, the second is an old plugin that apparently will not interact with underwater vehicles.

Hi,recently，i am using the bluerov2.I want to run the orbslam2 using the camera of the bluerov2. And,when i used the camera,i can not found the message for ROS topic "camera_info",so that the camera calibration work can not be done.Can you give me some advice to help me solve this problem? Thank you very much!