8.1. Deployment

We have 2 BlueROV2s:

The old BlueROV. We use it mainly for the SEMS/FAV class. It’s vehicle name is bluerov01.
The newer BlueROV. This one is used for the UVMS setup and has the Alpha arm mounted to it. It’s vehicle name is bluerov02.

Todo

This section is still work in progress.

8.1.1. SSH Access

For convenience, you can copy your ssh-key to the BlueROV to enable passwordless login and create an entry in your ~/.ssh/config for the BlueROV similiar to:

Host klopsi-main-01
    User pi
    Hostname klopsi-main-01.local
    IdentitiyFile "~/.ssh/id_ed25519"

Host klopsi-buddy-01
    User pi
    Hostname klopsi-buddy-01.local
    IdentitiyFile "~/.ssh/id_ed25519"

Note

Replace the path for the identity file with the name of your key.

This entry allows you to use ssh klopsi-main-01 instead of ssh pi@klopsi-main-01.local.

8.1.2. Start the usual Setup

Automated start of nodes (bluerov01)

For the bluerov01, we currently use an automated setup, where all necessary nodes are started at booting.

Make sure you have read and understood Automated Deployment.

Manual start of nodes (bluerov02)

$ ros2 launch hardware bluerov.launch.py vehicle_name:=bluerov01

$ ros2 launch hardware bluerov_buddy.launch.py vehicle_name:=bluerov01