BlueROV SLAM Documentation

Underwater acoustic SLAM system for BlueROV2 combining dual side-scan sonar (Kogger), depth sensors, IMU, GPS, and temperature via ESP32 sensor hub.

Quick Start

1. Flash ESP32 Firmware

cd esp32-sensor-hub
pio run --target upload --upload-port /dev/ttyUSB0

2. Start BlueOS Extensions

# On Raspberry Pi (BlueOS)
docker compose up -d

Dashboards:

• Sensor Hub: http://192.168.0.174:8099

• Kogger Viewer: http://192.168.0.174:8100

3. Check Status

curl http://192.168.0.174:8099/api/status
curl http://192.168.0.174:8100/api/status

System Architecture

┌──────────────────────────────────────────────────┐
│ ESP32-WROOM-32UE (Sensor Hub)                    │
│ ┌──────────────────────────────────────────────┐ │
│ │ Kogger A → UART1 GPIO 16/17 @ 921600         │ │
│ │ Kogger B → UART2 GPIO 25/26 @ 921600         │ │
│ │ GPS      → Soft  GPIO 27/14 @ 9600           │ │
│ │ K1 EZO   → Soft  GPIO 19/18 @ 9600 [SWAPPED] │ │
│ │ IMU HWT  → Soft  GPIO 13/15 @ 9600           │ │
│ │ MS5837   → I2C 0x76 (depth/pressure)         │ │
│ │ TSYS01   → I2C 0x77 (temperature)            │ │
│ └────────────────┬─────────────────────────────┘ │
└──────────────────┼───────────────────────────────┘
                   │ USB Serial @ 115200
                   ↓
┌──────────────────────────────────────────────────┐
│ Raspberry Pi (BlueOS)                             │
│ ┌──────────────────────────────────────────────┐ │
│ │ blueos-extension (Docker)                    │ │
│ │   ├─ HTTP :8099 (dashboard)                  │ │
│ │   ├─ WS   :8766 (live data)                  │ │
│ │   ├─ UDP  :14555 (Kogger A → KoggerApp)      │ │
│ │   ├─ UDP  :14556 (Kogger B → KoggerApp)      │ │
│ │   └─ MAVLink :14401 (→ ArduPilot)            │ │
│ └──────────────────────────────────────────────┘ │
│ ┌──────────────────────────────────────────────┐ │
│ │ kogger-viewer (Docker)                       │ │
│ │   ├─ HTTP :8100 (waterfall viewer)           │ │
│ │   └─ WS   :8101 (live waterfall data)        │ │
│ └──────────────────────────────────────────────┘ │
└──────────────────────────────────────────────────┘

Hardware Components

Component	Model	Interface	Role
MCU	ESP32-WROOM-32UE	USB Serial	Sensor hub
Sonar A	Kogger Side-Scan	UART1 921600	Starboard imaging
Sonar B	Kogger Side-Scan	UART2 921600	Port imaging
GPS	u-blox	SoftSerial 9600	Surface position
EZO EC	Atlas Scientific	SoftSerial 9600	Conductivity/salinity
IMU	HWT905 (WitMotion)	SoftSerial 9600	9-axis attitude
Depth	MS5837-30BA	I2C 0x76	Pressure/depth
Temp	TSYS01	I2C 0x77	High-precision temp

Table of Contents

Documentation

• System Architecture
  • Overview
  • Architecture Layers
  • Data Flow — End to End
  • Protocol Specifications
  • Performance
  • Future SLAM Pipeline
  • Technology Stack
  • References
• Hardware Documentation
  • Bill of Materials
  • GPIO Pinout — ESP32
  • Wiring Diagrams
  • Power Requirements
  • Sensor Specifications
  • Installation — BlueROV2
  • Troubleshooting — Hardware
  • Safety
• API Reference
  • BlueOS Extension API
  • Kogger Viewer API
  • Environment Variables
  • Data Logging
• Deployment Guide
  • Prerequisites
  • ESP32 Firmware Deployment
  • Docker Services Deployment
  • Rebuild & Update
  • View Logs
  • Monitoring & Health Checks
  • Automatic Startup
  • Production Checklist
  • Backup & Restore
• Troubleshooting
  • Common Issues
  • Performance Issues
  • Debugging Tools
  • Known Limitations
  • Getting Help

Development

• Contributing
• Changelog

Indices and Tables

• Index

• Module Index

• Search Page

License

MIT License - Copyright (c) 2026 Baptiste Moulin / Flag Labs