Design and implementation of a controller for an ROV

Over the last years, robots assumed a much larger role in different applications ranging from civilian drones to search and rescue robots. However, one of the hardest challenges could be to have reliable robots operating underwater under human supervision. From inspection to repair tasks, there is a growing need for remotely operated vehicles that can access places where humans can not go. For those ROVs, we need a thrust worthy system that can operate the robots under all conditions. For the purpose of this thesis, we are trying to develop a controller that can be used for a wide range of robots with minimal adaptation. The controller itself is made of several components that give input to the robot to carry out the assigned tasks and provide the operator with the relevant information about the status of the robot and its environment. All of that is combined into a robust, light weight and splash proof system featuring a joystick, a display device and much, taking advantage of the possibilities that ROS offers