Graphical User Interface (GUI)
description of the gui.py and BlueRov2.ui
Graphical aspect
Description of the GUI
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
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.
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
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
/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
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