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+# External BlueROV2 Direct-Thruster Path Controller
+
+This note points to an external ROS 2 BlueROV2 path-following controller package for DAVE/Gazebo:
+
+https://github.com/drwa92/bluerov2_reconciled_path_control_ros2
+
+The package provides:
+
+- go-to pose control;
+- waypoint following;
+- circle and spiral path following;
+- generic trajectory following;
+- stop and emergency-stop services;
+- direct six-thruster BlueROV2 allocation;
+- optional model-aided virtual-wrench reconciliation diagnostics.
+
+The controller is designed to run with the DAVE BlueROV2 simulator in direct-control mode:
+
+```bash
+ros2 launch dave_demos dave_robot.launch.py \
+  z:=-0.5 \
+  namespace:=bluerov2 \
+  world_name:=dave_ocean_waves \
+  paused:=false \
+  use_ardusub:=false \
+  use_teleop:=false
+
+ros2 launch bluerov2_path_control path_controller.launch.py \
+  model_name:=bluerov2 \
+  use_bridge:=true
+The package is maintained externally by Waseem Akram at MARVIS LAB:
+
+https://drwa92.github.io/marvis-lab/
+
+Project webpage:
+
+https://drwa92.github.io/bluerov2_reconciled_path_control_ros2/