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CONFIG.md

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Configuration

BlueROV2

USB devices

Create serial rules for devices in /etc/udev/rules.d/99-usb-serial.rules, which is intended to set up a consistent device name. The attributes can be found by udevadm info, e.g., udevadm info -a /dev/ttyUSB0 | grep 'idVendor' | head -n1.

SUBSYSTEM=="tty", ATTRS{idVendor}=="0856", ATTRS{idProduct}=="ac11", ATTRS{serial}=="BB9O7S8F", SYMLINK+="rowe_dvl", MODE="0777"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="A703G09Z", SYMLINK+="rowe_dvl", MODE="0777"

Remote serial ports

ssh to pi@192.169.2.2 and add the following lines to companion/.companion.rc to enable virtual serial ports over TCP.

  • DVL: 14660
  • IMU: 14661
socat tcp-listen:14661,reuseaddr,fork,ignoreeof file:/dev/ttyAMA0,nonblock,waitlock=/var/run/ttyAMA0.lock,b115200,raw,echo=0 &
socat tcp-listen:14660,reuseaddr,fork file:/dev/rowe_dvl,nonblock,waitlock=/var/run/rowe_dvl.lock,b115200,raw,echo=0 &

Disable camera

ssh to pi@192.168.2.2 and comment the following line in companion/.companion.rc.

sudo -H -u pi screen -dm -S video $COMPANION_DIR/tools/streamer.py

Topside

IP addresses

  • Computer: 192.168.2.1
  • BlueROV2: 192.168.2.2 user:password: pi:companion
  • Oculus M750d: 192.168.2.3
  • Oculus M120d: 192.168.2.4

QGroundControl

  • In General, disable auto connect to UDP and add two UDP Comm Links on ports 14550 and 14551.

    • Use 14551 with ROS as the messages are directed to 14551 (see mavproxy.sh).
    • Use 14550 without ROS.

  • Calibrate joystick.

    • [b0]/[b1]: arm/disarm
    • [b8]/[b3]: gain inc/dec
    • [a1]/[a0]/[a5]/[a2]: x/y/z/yaw
    • [a3]/[a4]: x/yaw cruise control
[b6] [b7]                     [b10]                  |
                                                     |
      [a1 + ]                  [b8]          [a4+|-] | [b11]
[a0 -][a2-|+][a0 +]        [b2]    [b9]              | [a5 u+]
      [a1 - ]                  [b3]          [a3+|-] | [b5]
                                                     |
[b0] [b1]                     [b4]                   |

Set salinity

For pressure sensor, the salinity can be configured in the launch file. But currently for DVL, configure the salinity by running

rosrun rti_dvl minicom.sh

# Type
STOP<ENTER>
CWS 0 => fresh 35 => salt <ENTER>
START<ENTER>