Overflow Robotics - ROV Software Stack

This repository contains the complete software and control infrastructure for the Overflow Robotics MATE ROV. The system utilizes a split-processing architecture, offloading heavy computer vision (YOLO) and 3D reconstruction (Intel RealSense) to a surface control unit, while maintaining hard real-time stabilization and data routing on the ROV.

System Architecture

Our software stack is divided into three distinct operational domains:

1. Topside (Surface Control Unit): Laptop running QGroundControl, YOLOv8 inference, and the primary vanilla HTML/JS video dashboard.
2. Companion (Jetson Orin Nano): Runs MJPEG ustreamer services for 6x USB cameras, mavlink-router, and RealSense rs-record data logging.
3. Firmware (Cube Orange+): Custom ArduSub build with a modified 6DOF motor mixing matrix to support our 8-thruster omnidirectional frame.

Repository Structure

• /topside/ - All Python scripts and HTML dashboards running on the surface laptop.
• /companion/ - CLI management scripts and systemd services for the Jetson.
• /firmware/ - Custom C++ matrix patches and .param backups for the flight controller.
• /docs/ - Source files for the team's MkDocs documentation site.

Getting Started

1. Clone the repository:

git clone https://github.com/Enderboy2/rov.git
cd rov