## page was renamed from bluerov/Tutorials/Power On the ROV
## page was renamed from bluerov_apps/Tutorials/ROV Basic Usage
## page was renamed from bluerov_apps/Tutorials/Booting the ROV
## For instruction on writing tutorials
## http://www.ros.org/wiki/WritingTutorials
####################################
##FILL ME IN
####################################
## for a custom note with links:
## note =
## for the canned note of "This tutorial assumes that you have completed the previous tutorials:" just add the links
## note.0=[[bluerov/Tutorials/Install BlueROV ROS Packages|Install BlueROV ROS Packages]]
## descriptive title for the tutorial
## title =Basic ROV Usage
## multi-line description to be displayed in search
## description =Instructions for using your ROV.
## the next tutorial description (optional)
## next =
## links to next tutorial (optional)
## next.0.link=[[bluerov/Tutorials/Intermediate ROV Usage|Intermediate ROV Usage]]
## next.1.link=
## what level user is this tutorial for
## level=BeginnerCategory
## keywords =
####################################
<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

== Safety ==

ROV thrusters can be very dangerous. If there is a safety concern at any point while using your ROV, immediately disable the thrusters. Here are three ways to do this, starting with the most convenient method:

 1. Hit the "back" button on the teleop controller (if connected and configured as such)
 1. Send the following command: {{{rostopic pub mavros/cmd/command mavros_msgs/CommandLong 400 0 21196 --once}}}
 1. Disconnect the power source from the ROV (i.e. unplug the batteries)

== Powering and Connecting To the ROV ==

To power your ROV, simply plug in the battery. Connect the umbilical to both the ROV and your computer. You might need to perform the following command to make the link available:

{{{
sudo ifdown eth0; sudo ifup eth0

# check state and IP of eth0
ifconfig
}}}

If you have your ROV configure with [[robot_upstart]], you should be able to immediately launch new ROS nodes on your surface computer. If you don't have this setup, you'll need to ssh into the ROV to start ROS:

{{{
ssh ubuntu@bluerov

# once logged in
roslaunch bluerov bluerov_r1.launch
}}}

Don't forget to set the {{{ROS_MASTER_URI}}} in each shell on the surface computer. Once connected, try to launch [[rqt]] and load the "Topic Monitor" plugin:

{{{
export ROS_MASTER_URI=http://bluerov:11311
rqt
}}}

You are now ready to run additional applications like [[bluerov_apps/Tutorials/teleop_joy|teleop_joy]].

== Submerging the ROV ==

Before submerging the ROV, make sure all enclosures are fully sealed including pressure-relief vent values. When ready, slowly place the ROV into the water. Hold the ROV near the surface for a short period of time and check for leaks. If leaks are detected, immediately pull the ROV out of the water and disconnect power.

## AUTOGENERATED DO NOT DELETE
## TutorialCategory
## FILL IN THE STACK TUTORIAL CATEGORY HERE