Packages¶

One page per package in src/. Each page lists the package's purpose, key entrypoints, ROS interfaces it owns, and gotchas worth knowing before editing it.

Core simulation & control¶

bluerov_sim: orchestrator. SDF + URDF + launch + action server + behaviour trees.
frames: compile-time frame library + the ConvertToControlsPose service.
bb_msgs: Locomotion.action, GetPoseToControlsFrame.srv, perception msgs.
bb_worlds: competition worlds (SDF + launch).

Physics & infrastructure¶

ardupilot_gazebo: JSON/UDP bridge plugin (ArduSub ↔ Gazebo).
dave: vendored underwater sim ecosystem.
foxglove-sdk: Foxglove bridge (manually cloned).
bring-up: robot bring-up / provisioning scripts.

Perception¶

vision_pipeline: lifecycle / composition orchestration for perception nodes.
yolo_ros_trt: YOLOv11 segmentation via TensorRT.
pose_estimator: 2D detections → PnP → TF broadcast.
image_matching: XFeat template matching.
image_processing: brighten, depth→RGB, restamp.
filters: detection post-processing (clustering, SORT3D).
ml_models: YOLO weights + Depth Anything ONNX assets.