Installation

The BlueROV utilizes Tritech's sonar for its operations. Communication is established via the RS232 protocol with the Raspberry Pi, and then it's transmitted to the topside computer through USBIP or VirtualHere.

🛜 Connection

To facilitate communication, the TX, RX, and Ground pins need to be soldered to a DB9 connector. As we are directly connecting the sonar to the computer, it's essential to use a null modem connection (RX and TX are simply swapped).

DC+ and DC- must be connected to a suitable power source (12 - 48 Volts). For more detailed information about the sonar, please refer to the User manual.

⚒️ Assembly

For mounting on the BlueROV, you can conveniently use the mounting plate designed for the Ping360 Sonar by BlueRobotics.

👨🏼‍💻 Software

To conduct testing, you can use the Genesis software (Windows)

⚠️ Troubleshooting

The getUsbPort script can assist you in identifying the correct port for the RS232 adapter.

Make sure to verify the standard baud rate (115200).

If the ROS node is denied access to the port, you can use the following command:

sudo chmod 0777 /dev/ttyUSB0