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BlueROV example architecture

The BlueROV examples connect mission logic to ArduSub through ROS 2:

flowchart LR
  BT[Mission behaviour tree] --> CTRL[Locomotion action server]
  CTRL --> MAVROS
  MAVROS --> ARD[ArduSub SITL]
  ARD --> GZ[Gazebo]
  GZ --> ODOM[Odometry bridge]
  ODOM --> MAVROS
  ODOM --> TF[TF tree]
  TF --> BT
Loading

Layers

Layer Responsibility
Mission tree Chooses actions, searches, and recovery paths
Pose conversion Resolves body and anchor-frame goals into map ENU
Locomotion action server Publishes MAVROS setpoints and checks progress
MAVROS Translates ROS messages to MAVLink
ArduSub and Gazebo Runs vehicle control and simulated physics
Odometry bridge Returns vehicle pose through MAVROS and TF

Bin and torpedo demos split these layers across tmux panes: sim, controls, cluster, vision, and bt. Each pane can be restarted independently.

Conventions

  • Mission body offsets use FLU: +x forward, +y left, +z up.
  • Map poses use ENU, so depth below the surface has negative z.
  • move_rel, depth_rel, and heading_rel are independent.
  • MAVROS position setpoints publish at 1 Hz.
  • Mission trees tick at 10 Hz.
  • Use memory=True on mission Sequence and Selector nodes.
  • Run TF- and pose-clustering nodes with simulated time.
  • Keep the vehicle URDF and Gazebo SDF aligned.

Anchor frames

A movement goal can align a vehicle-mounted frame instead of base_link. The bin demo uses the dropper; the torpedo demo uses the left or right shooter. The pose-conversion service applies the offset before the goal is sent to controls.

First checks when something fails

ros2 topic echo /mavros/state --once
ros2 topic echo /mavros/local_position/pose --once
ros2 topic echo /bluerov/odom --once
ros2 action list | grep controls
ros2 service list | grep convert_to_controls_pose
  • No MAVROS connection: check ArduSub and host networking.
  • No local position: check the odometry bridge and EKF input.
  • Clustering reports no samples: check that the pose estimator is publishing the requested TF or pose topic.
  • The robot moves the wrong way: check FLU/ENU signs and relative flags.