|Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.|
ROV PrerequisitesDescription: A list of the prerequisites to using an ROV with this package.
Tutorial Level: BEGINNER
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ROV Mechanical and Electrical Assembly
Please make sure that you have a compatible ROV as described here. The following tutorials assume that you have assembled and connected up your ROV per the instructions on the Blue Robotics BlueROV Docs page. Pay close attention to following the numbering and orientation of the thrusters as specified in the documentation.
Install APM:Sub onto your autopilot. Note that you'll need to manually modify line 96 of ArduSub/GCS_Mavlink.cpp to say MAV_TYPE_QUADROTOR, until v0.18 of mavros gets release. (See this pull request for more information.)