BlueROV2 Setup¶
Complete setup guide for BlueROV2 (Standard and Heavy configurations).
Hardware Setup¶
Companion Computer Installation¶
- Mount Raspberry Pi 4 or Jetson Nano in electronics enclosure
- Connect to Pixhawk via USB
- Power from 5V regulator
Camera Installation¶
- Mount RealSense D435 forward-facing
- Connect via USB 3.0
- Waterproof USB connection
Network Configuration¶
BlueROV2 Companion Computer: - IP: 192.168.2.2 - QGC: 192.168.2.1
Software Setup¶
# SSH to companion computer
ssh pi@192.168.2.2
# Install AQUA Stack
wget https://downloads.signalbotics.com/aqua/install-bluerov2.sh
sudo bash install-bluerov2.sh
# Configure for BlueROV2 Heavy
aqua-config --vehicle bluerov2_heavy
Vehicle Parameters¶
BlueROV2 Heavy configuration is pre-loaded with: - Frame type: X configuration - 8 thrusters (vectored) - Mass: 11.5 kg - Drag coefficients: calibrated
Testing¶
Pool Test Checklist¶
- SLAM initializes correctly
- Waypoint navigation accurate
- Depth hold stable
- Return-to-home works
- Emergency surface responsive