BlueROV2

Images

Description

An implementation of the BlueROV2.

See the BlueROV2.

Control Schemes

AUV Thrusters (``0``)

An 8-length floating point vector used to specify the control on each thruster. They begin with the front right vertical thrusters, then goes around counter-clockwise, then repeat the last four with the sideways thrusters.

PD Controller (``1``)

A 6-length floating point vector of desired position in the global frame and roll, pitch, and yaw. A basic PD controller has been implementing to move the vehicle to that position and orientation using the needed forces and torques.

Custom Dynamics (``2``)

A 6-length floating point vector of linear and angular accelerations in the global frame. This is to be used for implementing custom dynamics. Besides collisions, all other forces and torques - including gravity, buoyancy, and damping - have been disabled in the simulator to allow for a clean slate for custom dynamics.

Sockets

• COM Center of mass

• SonarSocket A socket on the top of the AUV.

• CameraSocket Location of the camera sensor.

• Socket A socket on the bottom of the AUV.