Fish robot cabled teleoperation implemented on ROS 2
DOI:
https://doi.org/10.17979/ja-cea.2025.46.12247Keywords:
Unmanned marine vehicles, Telerobotics, Mobile robots, Guidance, navigation and control, Embedded computer control systems and applications, Networked robotic systemsAbstract
This paper presents a cabled teleoperation system for an underwater robot using ROS 2 Humble.We implement a control node that emulates first-order velocity dynamics, by combining proportional acceleration and drag, and publishes PWM commands for speed, camera angle and electromagnet actuation. The user interface integrates ROS 2 teleoperation nodes with a joystick and real-time visualization tools. We validate the system in ten-minute pool trials, achieving directional stability, tracking error below 2 %, and latencies compatible with a 20 Hz control loop. These results lay a foundation for future extensions—bidirectional acoustic communication and high-fidelity simulation—aimed at enhancing autonomy and robustness in underwater teleoperation.
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Copyright (c) 2025 Max Puig Sariñena, Andrea Pino Jarque, Alejandro Solis Jiménez, Salvador López Barajas, Juan Jesús Echagüe Guardiola, Pedro J Sanz
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
