Hardware-in-the-Loop Setup

Overview

This page is for hardware-specific setup notes. General workspace installation, Python dependencies, and simulator launch checks live in Installation and Build.

Prerequisites

BlueOS must be running on aarch64.
Install the BlueOS ROS 2 extension on the vehicle companion computer.
Apply the configuration settings from the BlueOS ROS 2 extension thread.

Launch Direction

Use the hardware launch arguments only when the corresponding hardware is connected and configured:

ros2 launch ros2_control_blue_reach_5 robot_system_multi_interface.launch.py \
    use_manipulator_hardware:=true \
    use_vehicle_hardware:=true \
    sim_robot_count:=0 \
    task:=interactive

Mixed hardware/simulation launches use the same launch file with one hardware flag enabled and the other disabled.

BlueROV Thruster Mapping and Sign Check

Before closed-loop vehicle tests, verify that the BlueROV thruster channel mapping and forward/reverse directions match the convention implemented by the vehicle hardware interface. The framework assumes the thruster numbering and positive force directions shown below.

BlueROV thruster numbering and positive force direction convention

Use the direct-thruster keyboard task for the in-water check. See Direct Thruster Keyboard Task for the launch command and key mapping. Test one thruster channel at a time before running any vehicle feedback controller:

The keyboard channel drives the physical thruster with the same number as the diagram.
Positive and negative commands produce thrust in the expected forward/reverse directions.

If a keyboard channel drives the wrong physical thruster, fix the BlueROV thruster output mapping before running feedback control. If a thruster spins in the wrong forward/reverse direction, use the thruster direction parameter in description/ros2_control/vehicle_system_multi_interface.ros2_control.xacro. Set it to 1 or -1 for the affected thruster so the physical forward/reverse direction agrees with the diagram. Incorrect mapping or reversed thrust signs will make the vehicle controller apply the wrong body wrench.

Architecture & HIL Presentation

For a detailed walkthrough of the hardware architecture and HIL test setup, consult the slide deck:

Architecture & HIL Presentation