UWF HydroBotics
UWF 2025 AUV
Stage 1: Tethered ROV
Stage 2: Untethered AUV
This stage is complete. The sub is able to be controlled with a remote controller underwater and able to take pictures and videos. Once the competition course is built the sub will be used in this mode to take underwater photos of the course.
This stage is currently in progress. A ROS2 Package has been started. The team has been able to send manual thruster commands to the sub via the ROS package, but unable to swap the PixHawk into Guided mode because of a lack of way to find position. The team is trying to secure a Doppler Velocity Log (DVL) so the sub can be tested in Guided mode. The Vision model can currently recognize the difference between white and red PVC pipes, but the team is waiting until the course is assembled to train the rest of the model.
Current Status:
The main frame of the sub has been assembled with the thrusters mounted and the electrical components assembled. The exterior On/Off Switch still needs to be integrated. The ROV is currently controlled with a Raspberry Pi running BlueOS, but once the team acquires a DVL the Raspberry Pi will be replaced with a Jetson Orin Nano.
