README.md

taarn_basestation_ros

Dependencies

• Mallard Xueliang branch
• visual_virtual_tether

Get started

Launch basestation

roslaunch taarn_basestation_bringup basestation.launch

Use

Launch basestation

roslaunch taarn_basestation_bringup basestation.launch

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:          Circl button