Graphical User Interface (GUI)

description of the gui.py and BlueRov2.ui

Graphical aspect

Description of the GUI

STATUS

Components	Description
ARM/DISARM	Show the arm status of the BlueRov2
Control	MANUAL : ROV controlled by gamepad AUTOMATIC : ROV controlled by the depth/heading/velocity controllers
enable AUTOMATIC control	Allow to enable AUTOMATIC mode without a gamepad
Battery Level	Display battery level in volt (to not damage the battery it is recommend to not go under 3V by cells : e.g. for a 4S LI-Ion battery do not go under 12V)
Light level	light level of the lights in %, 0: turned off, 100% : highest brightness
Camera	Camera angle : between -45 to 45 deg

SET PARAMETERS

Components	Description
Set target	Depth : in m, 1m = 1m depth Heading : in deg, 0 is North Velocity : in m/s (the controller is not working) SEND : publish on /Settings/set_target
PWM MAX	Set the pwm maximal for all controllers. Uses in saturation method in controllers. At the init the pwm maximal is 1700
PID parameters	To tune PID for each controller. Press SEND for each controller to change PID parameters. The message is sent on the topics /Settings/set_[depth/heading/velocity]. KI, KP, KD = integral, proportional, derivative coefficients Note : heading and velocity controller have no KI, changing this parameter will have no effect.

RECORD DATA

This area allows to record data by launching a rosbag record command described below. You can change the record time, in s, up to 3600s. The record time from Start All button is the maximum of the three record time parameters.

The files are recorded in ~/.ros folder. Rosbag file will be named as [depth/heading/velocity][year]-[month]-[day]-[hours]-[minutes]-[seconds].bag

Choice	Topics recorded
Depth	/BlueRov2/bar30 ; /BlueRov2/state ; /Settings/set_depth ; /Settings/set_target ; /Command/depth
Heading	/BlueRov2/imu/attitude ; /BlueRov2/state ; /Settings/set_heading ; /Settings/set_target ; /Command/heading
Velocity	/imu/imu_raw ; /BlueRov2/state ; /Settings/set_velocity ; /Settings/set_target ; /Command/velocity
All	/BlueRov2/bar30 ; /BlueRov2/imu/attitude ; /imu/imu_raw ; /BlueRov2/state ; /Settings/set_depth ; /Settings/set_heading ; /Settings/set_velocity ; /Settings/set_target ; /Command/depth ; /Command/heading ; /Command/velocity

The velocity is not recorded as velocity but only acceleration are recorded with the topics /imu/data_raw

CONTROLLER OVERVIEW

It's an overview of the controllers with a preview of the controllers output in the column PWM_sent. The checkbox can be check to enable the controller to drive the ROV if the AUTOMATIC mode otherwise it will not work until the AUTOMATIC mode is on.

Units are meters for altitude (eg : 0.174m=0.174m above the surface, -2m is 2m under surface), degrees for heading in range 0-360, velocity is not estimated yet so is always written -1. See here velocity control.

ROS

Node

GUI

Topics

ROS message subscribed	Message	Description
/BlueRov2/State	bluerov_ros_playground/State	State of the ROV : arm status, thrusters pwm, light level, camera tilt
/BlueRov2/battery	sensor_msgs/BatteryState	Battery state
/BlueRov2/bar30	bluerov_ros_playground/Bar30	Absolute pressure
/BlueRov2/imu/attitude	bluerov_ros_playground/Attitude	Contain yaw data
/Command/depth	UInt16	pwm sent by depth controller for the pwm preview
/Command/heading	UInt16	pwm sent by heading controller for the pwm preview
/Command/velocity	UInt16	pwm sent by velocity controller for the pwm preview
/Command/Joy	UInt16	To switch the mode display (the real switch is in commander.py)
/Settings/set_depth	bluerov_ros_playground/Set_depth	To read depth controller settings
/Settings/set_heading	bluerov_ros_playground/Set_heading	To read heading controller settings
/Settings/set_velocity	bluerov_ros_playground/Set_velocity	To read velocity controller settings
/Settings/set_target	bluerov_ros_playground/Set_target	To read target to reach

ROS message published	Message	Description
/Settings/set_depth	bluerov_ros_playground/Set_depth	send depth controller settings
/Settings/set_heading	bluerov_ros_playground/Set_heading	send heading controller settings
/Settings/set_velocity	bluerov_ros_playground/Set_velocity	send velocity controller settings
/Settings/set_target	bluerov_ros_playground/Set_target	send target to reach in depth, heading and velocity