BlueROV SLAM

Documentation

  • System Architecture
    • Overview
    • Architecture Layers
      • Layer 4: Visualization & Control
      • Layer 3: Docker Services (Raspberry Pi)
      • Layer 2: Firmware (ESP32-WROOM-32UE)
      • Layer 1: Sensors
    • Data Flow — End to End
      • 1. Sensor Acquisition (ESP32)
      • 2. Binary Protocol Decoder (blueos-extension)
      • 3. MAVLink Bridge
      • 4. Kogger Viewer — BB55 Waterfall Display
    • Protocol Specifications
      • AA55 Binary Protocol (ESP32 → Pi)
      • BB55 Kogger Protocol
    • Performance
    • Future SLAM Pipeline
    • Technology Stack
    • References
  • Hardware Documentation
    • Bill of Materials
    • GPIO Pinout — ESP32
      • Pin Assignment
      • Critical Notes
    • Wiring Diagrams
      • Kogger Sonar
      • IMU HWT905
      • I2C Sensors
    • Power Requirements
    • Sensor Specifications
      • Kogger Side-Scan Sonar
      • HWT905 IMU
      • MS5837-30BA (Bar30)
      • TSYS01 (Celsius)
      • Atlas Scientific EZO EC
      • u-blox GPS
    • Installation — BlueROV2
      • Physical Mounting
      • Enclosure
    • Troubleshooting — Hardware
    • Safety
  • API Reference
    • BlueOS Extension API
      • blueos-extension (:8099)
        • HTTP Endpoints
        • WebSocket (port 8766)
        • UDP Forwarding
        • MAVLink Output
    • Kogger Viewer API
      • kogger-viewer (:8100)
        • HTTP Endpoints
        • WebSocket (port 8101)
    • Environment Variables
      • blueos-extension
      • kogger-viewer
    • Data Logging
      • JSONL Log Format
      • Log Rotation
  • Deployment Guide
    • Prerequisites
    • ESP32 Firmware Deployment
      • 1. Install PlatformIO
      • 2. Flash Firmware
      • 3. Verify Serial Output
    • Docker Services Deployment
      • 1. Clone Repository
      • 2. Build Docker Images
      • 3. Create docker-compose.yml
      • 4. Start Services
      • 5. Check Status
    • Rebuild & Update
      • Update Code
      • Rebuild Images
      • Rebuild ESP32 Only
    • View Logs
      • Docker Logs
      • JSONL Session Logs
      • Serial Monitor (ESP32)
    • Monitoring & Health Checks
      • Service Status
      • WebSocket Test
    • Automatic Startup
      • BlueOS Extension (Recommended)
      • Systemd Service (Alternative)
    • Production Checklist
      • Before Deployment
      • Post-Deployment
    • Backup & Restore
      • Backup Configuration
      • Restore from Backup
  • Troubleshooting
    • Common Issues
      • Serial Port Not Found
      • No Sensor Data
      • Kogger Not Detected
      • IMU No Data
      • GPS No Fix
      • I2C Sensors Fail
      • WebSocket Connection Failed
      • High CRC Errors
      • MAVLink Not Working
      • Docker Container Crashes
      • Waterfall Display Not Rendering
    • Performance Issues
      • High Latency (>500ms)
      • Dropped Frames
    • Debugging Tools
      • Serial Monitor
      • Docker Logs
      • HTTP Debug
      • WebSocket Debug
      • Network Debug
      • I2C Debug
      • GPIO Debug
    • Known Limitations
    • Getting Help

Development

  • Contributing
    • Development Setup
      • Clone Repository
      • Install Dependencies
    • Code Style
      • Python
      • C++ (ESP32)
      • reStructuredText (Docs)
    • Commit Guidelines
      • Format
    • Pull Request Process
    • Testing
      • Unit Tests (Python)
      • Hardware Testing
    • License
    • Contact
  • Changelog
    • v1.0.0 (2026-03-27)
      • Features
      • Hardware Support
      • Known Issues
    • v0.9.0 (2026-03-20)
    • v0.5.0 (2026-03-15)
    • Roadmap
      • v1.1.0 (Planned)
      • v2.0.0 (Future)
BlueROV SLAM
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© Copyright 2026, Baptiste Moulin / Flag Labs.

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