From 508babe4ddb6d3970637ee2607d08a2946ea58c8 Mon Sep 17 00:00:00 2001 From: Waseem Akram Date: Fri, 5 Jun 2026 11:33:32 +0200 Subject: [PATCH] Add external BlueROV2 path-control package reference --- .../bluerov2_reconciled_path_control_ros2.md | 37 +++++++++++++++++++ 1 file changed, 37 insertions(+) create mode 100644 examples/community/bluerov2_reconciled_path_control_ros2.md diff --git a/examples/community/bluerov2_reconciled_path_control_ros2.md b/examples/community/bluerov2_reconciled_path_control_ros2.md new file mode 100644 index 00000000..7d93aff4 --- /dev/null +++ b/examples/community/bluerov2_reconciled_path_control_ros2.md @@ -0,0 +1,37 @@ +# 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/