We recently started to develop a short module to integrate a simple control software for the BlueROV2(heavy configuration) Link.
The reason behind this integration is the usage of the PX4 software instead of the ArduSub-Software.
Therefore as a first step, we developed a small module, which is an adaption of the uuv_att_control module.
First steps in this direction were already pushed into the Master branch in October last year.
The new module should in the beginning accomplish the following:
- Stable Control of the BlueROV2(hold Roll, Pitch, and Depth)
- Simulation in Gazebo for testing of different Controllers and future more advanced applications.
Before we create a pull request we have two short questions on the integration which are not clear for me.
The rc.uuv_apps file has the following line:
Which starts the uuv_att_control module.
Since the BlueROV2 and Hippocampus uuv are fundamentally different the new module has to be started.
VEHICLE_TYPEcurrently only defines the type
Should we add a new type for the BlueROV2 and rename the uuv to uuv_hippocampus? or is there a better way?
Because of the current covid situation we did not test this package on the real robot. Only in the Simulation. This is going to follow in a few weeks/months. Is this a fundamental problem?
Is there something special we should think of when adding the new module?