taarn_basestation_ros

Dependencies

• joy
• mavros_msgs
• MallARD ice9-dev branch

Installation

Make a new directory for your catkin workspace:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src

Clone the repository and dependencies:

git clone [email protected]:EEEManchester/taarn_basestation_ros.git
git clone -b ice9-dev [email protected]:EEEManchester/MallARD.git

Install other dependencies and build:

cd ..
rosdep install --from-paths src --ignore-src -r -y
catkin build

Use

Launch basestation

roslaunch taarn_basestation_bringup basestation.launch

Teleop

Joystick mappings:

==== Bluerov and Mallard ====
Linear X:                   Left  joystick horizontal
Linear Y:                   Left  joystick horizontal
Yaw:                        Right joystick horizontal
Arming/disarming:           Options button
Attitude control on/off:    Cross   button

==== Bluerov only ====
Depth up:                   Right trigger button R2
Depth down:                 Left  trigger button L2
Depth hold on/off:          Circle  button

For configure the joystick mappings and control gains, see taarn_teleop_joy/README.md.