Manual Control

Manual Control#

We can manual control the Ardusub with mavlink protocol called MANUAL_CONTROL. That mavlink protocol can be used from ros2 environment with mavros. The MANUAL_CONTROL is exposed in ros2 topic: /mavros/manual_control/send

How to Give Command#

  1. Launch the narwhal_comms

ros2 launch narwhal_comms comms.launch.py

if you want to check each motor before full running, run following command

ros2 launch narwhal_comms comms.launch.py init:=true

  1. If you want to control with joystick

ros2 launch narwhal_joy joy.launch.py

List of Button:

  • Axis 1: Left Stick Vertical (Forward/Backward) -> x

  • Axis 0: Left Stick Horizontal (Left/Right) -> y

  • Axis 7: D-pad Vertical (Up/Down) -> z (Depth)

  • Axis 2: Right Stick Horizontal (Yaw) -> r

  • button A: ARMING

  • button B: DISARMING

  • button X: MANUAL

  • BUTTON Y: STABILIZE

Netral Value

  • x = 0.0

  • y = 0.0

  • z = 500.0

  • r = 0.0

For testing purpose:

ros2 topic pub /mavros/manual_control/send mavros_msgs/msg/ManualControl \
"{x: 500.0, y: 0.0, z: 500.0, r: 0.0, buttons: 0}" -r 20