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  • Getting started
    • Requirements
      • Docker container: drydock
        • drydock maritime: build, run and join
    • Installation
      • From source
      • From ROS packages (debs)
    • Installation - Drydock
      • On Host: Setup workspace, clone drydock source, and build image
        • On Host: Clone source for this project
        • On Host: Start bash session within drydock maritime container
        • In Container: Build the project
    • First simulation
    • ArduPilot SITL setup
      • Prerequisites
      • Install
        • Source repo clones
      • Build the Gazebo plugin
      • Build the ArduPilot firmware
        • Verify the Python environment
      • Environment
      • Smoke test - Iris UAV
      • Troubleshooting
      • Reference
        • Why a venv, and why not to skip it
  • Vehicles
    • BlueBoat
      • Running the simulation
        • Launch arguments
        • Choosing the world
        • In RViz
      • Actuators
        • Available actuators
        • Actuators ROS API
          • Thrusters
        • Gazebo transport API
      • Sensors
        • Available sensors
        • Sensors ROS API
          • Echosounder
      • Configuration
        • Hull displacement
        • Payload
      • BlueBoat Parameters
        • Approach
        • Set via reference
          • Drag estimates - open loop
            • Surge
              • Estimate
              • Test - Open-loop surge response
              • Select in test
            • Yaw
              • Estimate
              • Test - open-loop yaw response
              • Select in test
        • The autopilot parameter file
          • Provenance: three descriptions, and they disagree
      • Verify the SITL connection (Boat)
        • Prerequisites
        • Walkthrough
          • Verify that the boat drives in the correct directions and polarity.
      • Tuning of closed-loop response for BlueBoat
        • Prerequisites
        • Walkthrough
          • Test closed-loop response
            • Surge control
            • Yaw-rate control
        • Summary
      • Commissioning materials for visual assets
        • blueboat_chassis
          • datum location
      • The default vehicle
    • BlueROV2
      • Running the simulation
        • Launch arguments
        • Choosing the world
        • In RViz
      • Actuators
        • Available actuators
        • Actuators ROS API
          • Thrusters
          • Grippers
        • Gazebo transport API
      • Sensors
        • Available sensors
        • Sensors ROS API
          • Camera
          • Stereo camera
          • Scanning sonar
          • DVL
      • Configuration
        • Variants
        • Buoyancy
        • Payload
      • Verify the SITL connection (ROV)
        • Prerequisites
        • Walkthrough
          • The simulation
          • The autopilot (SITL)
        • Verification - teleop via the autopilot.
      • The default vehicle
  • How-to guides
    • Change the fitted parts
      • Fit the other propellers
      • Leave the Ping2 kit off
      • Add the antenna mast or the payload bracket
      • Rename the Ping topics
      • Add a part somewhere specific
      • Declare your own mount point
      • See what you got
    • Configure an installed vehicle
      • The launch does it for you
      • Generate the artifacts yourself
      • Overlay workspace
    • Add a part
      • Where a part goes
    • Add a sensor part
    • Run in your own world
      • Include the default model
      • Spawn at runtime
      • Use the stock launch with your world
      • With a custom config
    • Teleoperate with a gamepad
      • Configure the gamepad mapping (optional)
      • Run
        • BlueBoat
        • BlueROV2
        • A named instance, or two
      • Safety behavior
      • Troubleshooting
    • Several vehicles and several simulations
      • One name per instance
        • Topic overrides under the name
      • A second instance in the same world
      • Several simulations
    • Troubleshooting / FAQ
      • xacro fails with “ASSEMBLY ERROR: …”
      • The boat appears rolled 90 degrees in RViz, parts detached
      • The boat moves sideways instead of forward
      • No ranges on /blueboat/ping/range
      • A part looks rolled 90 degrees in RViz but fine in Gazebo
      • “Cannot locate rosdep definition”
      • Two simulations interfere with each other
      • robot_state_publisher warns about the root link inertia
  • Reference
    • Parts catalog and slots
      • Catalog
      • Slots
        • BlueBoat chassis
        • BlueROV2 chassis
      • Configuration keys
      • Frames
  • Design
    • Architecture
      • The pieces
      • Why it works this way
    • Parts
      • The part contract
      • Meshes
      • Reviewing parts
    • Slots and assembly
      • Resolution
      • What a slot is in the URDF
      • Why defaults live in the parts
      • Where to add a slot
    • Buoyancy: all up round mass and displacement
      • USV: hull displacement
      • UUV: declared trim (BlueROV2)
      • Marked for any world
      • Constraints
    • Gazebo composition
      • Merge include and lumping
      • Sensors and thrusters follow their part
      • The bridge agrees by construction
      • Build time and launch time
      • What is in the composed model
  • Project
    • Contributing
      • Build and test
      • Pre-commit hooks
      • Conventions
      • Documentation
BlueRobotics Models
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