ardusub_driver is a collection of packages designed to enable integration of ROS 2 into marine vehicles that use ArduSub (e.g., the BlueROV).
The main features of the ArduSub driver include
- thruster_hardware: A ros2_control hardware interface that enables individual thruster-level control in simulation or on hardware. This can be used alongside projects like auv_controllers to control marine robots.
- ardusub_manager: A high-level node that simplifies ROS 2 integration with marine vehicles by providing interfaces for tasks like setting the interval at which MAVLINK messages are published by the autopilot.
ardusub_driver is currently supported on Linux and is available for the ROS 2
Iron distribution. Prior to installing this project, first install MAVROS.
Once MAVROS has been successfully installed, clone ardusub_driver to the
src directory of your ROS workspace:
git clone git@github.com:Robotic-Decision-Making-Lab/ardusub_driver.gitFinally, install all ROS dependencies using rosdep:
rosdep update && \
rosdep install -y --from-paths src --ignore-srcIf you have questions regarding usage of ardusub_driver or regarding contributing to this project, please ask a question on our Discussions board!
ardusub_driver is released under the MIT license.