├── .gitattributes ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── bringup ├── __init__.py ├── config │ └── robot_multi_interface_forward_controllers.yaml ├── launch │ └── robot_system_multi_interface.launch.py └── utils │ ├── __init__.py │ ├── controller_config.py │ └── rviz_utils.py ├── casadi_lib ├── libAngWrap.so ├── libBase_ext_R_vehicle.so ├── libC2T.so ├── libEKF_next.so ├── libFK.so ├── libFKcom.so ├── libF_thrust.so ├── libF_thruster_body.so ├── libMnext.so ├── libPWM_RAD.so ├── libPWM_THRUST.so ├── libT2C.so ├── libTHRUST_RAD.so ├── libThrust_PWM.so ├── libUV_xnext.so ├── libmEKF_next.so ├── libmodelbasedEKF_next.so └── libtest.so ├── dependency_repos.repos ├── description ├── Bathymetry │ └── meshes │ │ ├── hawaii.stl │ │ ├── hawaii_cropped.stl │ │ ├── manhomansett.stl │ │ └── process_stl.ipynb ├── alpha │ ├── meshes │ │ ├── M2-1-1.stl │ │ ├── M2-1-3.stl │ │ ├── M2.stl │ │ ├── M3-INLINE.stl │ │ ├── RS1-100-101-123.stl │ │ └── end_effectors │ │ │ ├── RS1-124.stl │ │ │ ├── RS1-130.stl │ │ │ └── RS1-139.stl │ └── urdf │ │ ├── alpha_5.urdf.xacro │ │ └── end_effectors │ │ └── standard_jaws.urdf.xacro ├── blue │ ├── meshes │ │ ├── bluerov2 │ │ │ └── bluerov2.dae │ │ ├── bluerov2_heavy │ │ │ └── bluerov2_heavy.dae │ │ ├── bluerov2_heavy_reach │ │ │ └── bluerov2_heavy_reach.dae │ │ └── t200 │ │ │ ├── ccw_prop.dae │ │ │ └── cw_prop.dae │ └── xacro │ │ ├── bluerov2 │ │ └── urdf.xacro │ │ ├── bluerov2_heavy │ │ └── urdf.xacro │ │ ├── bluerov2_heavy_reach │ │ └── urdf.xacro │ │ ├── camera │ │ └── urdf.xacro │ │ └── t200 │ │ └── urdf.xacro ├── launch │ └── view_robot.launch.py ├── plotjuggler │ ├── gt_mocap.xml │ └── positions.xml ├── ros2_control │ ├── robot_system_multi_interface.ros2_control.xacro │ └── vehicle_system_multi_interface.ros2_control.xacro ├── rviz │ └── rviz.rviz └── xacro │ ├── robot_system_multi_interface.urdf.xacro │ ├── urdf.xacro │ └── world.xacro ├── doc ├── hil_setup.rst ├── multiagent.png ├── userdoc.rst ├── uvms.drawio.png ├── uvms.png ├── uvms_env.png └── uvms_new.png ├── hardware ├── bluerov_system_multi_interface.cpp ├── cobs.cpp ├── crc.cpp ├── driver.cpp ├── dvldriver.cpp ├── include │ └── ros2_control_blue_reach_5 │ │ ├── bluerov_system_multi_interface.hpp │ │ ├── cobs.hpp │ │ ├── crc.hpp │ │ ├── custom_hardware_interface_type_values.hpp │ │ ├── device_id.hpp │ │ ├── driver.hpp │ │ ├── dvldriver.hpp │ │ ├── dynamics_params.template.hpp │ │ ├── eigen.hpp │ │ ├── joint.hpp │ │ ├── json.hpp │ │ ├── mode.hpp │ │ ├── packet.hpp │ │ ├── packet_id.hpp │ │ ├── reach_system_multi_Interface.hpp │ │ ├── serial_client.hpp │ │ ├── sim_reach_system_multi_interface.hpp │ │ ├── sim_vehicle_system_multi_interface.hpp │ │ ├── state.hpp │ │ ├── thruster.hpp │ │ ├── utils.hpp │ │ ├── vehicle.hpp │ │ └── visibility_control.h ├── joint.cpp ├── packet.cpp ├── reach_system_multi_Interface.cpp ├── serial_client.cpp ├── sim_reach_system_multi_interface.cpp ├── sim_vehicle_system_multi_interface.cpp ├── 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