Strafe controller for the BlueROV

strafe_controller_client.py is used to send motor commands to the BlueROV2, either based on keyboard commands or the computed maximum perplexity pixel in a ROST image stream

perplexity_controller.py listens to perplexity json messages over a tcp socket and sends commands to the BlueROV (using rost-cli)

Example

First, start an MJPEG image stream on the BlueROV, output to port 8080 (e.g. this MJPEG streamer)

./mjpg_streamer -i "input_raspicam.so -x 640 -y 480 -fps 15" -o "output_http.so -p 8080" or ./mjpg_streamer -i "input_uvc.so -d /dev/video0 -x 640 -y 480 -fps 15" -o "output_http.so -p 8080"

Then, compile rost-cli and run sunshine:

cd <PATH_TO_ROST_CLI>/bin
./sunshine --mjpgstream=192.168.2.2 --mjpgstream.port=8080 --mjpgstream.path='/?action=stream' --hdp -K 32 --header=" " --footer=" " --broadcaster.port=9001 --cell.space=32

Then, open QGroundConntrol with a joystick connected (for emergency override) and run the perplexity controller:

cd <PATH_TO_THIS_REPO>
./strafe_controller_client.py

Run ./strafe_controller_client --help for a description of the arguments.