Launch ROS implementation

Once the tether and the USB cable is connected to the topside computer with the right IP address you will need to execute the files that do the bridge between MAVlink messages from PixHawk and ROS messages on the surface computer.

Launch the link ROS-MAVlink

roslaunch bluerov_ros_playground bluerov2_node.launch

The ROS-MAVlink bridge use the 'udpin:192.168.2.1:14560' endpoint of mavlink stream. 192.168.2.1 is the IP address of the topside computer, and 14560 the port used. For mavlink stream, topside computer works as server while the companion computer runing mavproxy works as a client.

QGroundControl (GQC) use the 192.168.2.1:14550 endpoint. So you can run QGC and ROS bridge at the same time

Launch IMU client

To connect topside computer to a server running on companion computer

rosrun bluerov_ros_playground Imu_bridge.py

Launch controllers and GUI

roslaunch bluerov_ros_playground control.launch