OpenROV is a OpenSource underwater vehicle, remotely operated from a standard browser via a Node.js application running on an embedded linux board (the BeagleBone) and connected to a webcam and an Arduino. In this presentation I tell you some insights on how the ROV is put together, mainly focusing on the software component.

1. OPENROV
NODE.JS TAKES A DIVE INTO THE
OCEAN
Simone Chiaretta / @simonech

2. WHAT IS OPENROV
OpenROV is an open source robotic submarine
designed to make underwater exploration possible for
everyone.
By Eric Stackpole and David Lang .

3. HOW DOES IT LOOK LIKE

4. HOW DOES IT LOOK LIKE

5. THE GOAL
Invented to discover a hidden treasure in an underwater
cave.
But also to:
Make underwater exploration accessible to everyone
Very low cost
Extensible

6. HIGH LEVEL VIEW

7. BROWSER
Pure HTML/JS with Knockout.js

8. BEAGLEBONE
Node.js with:
Express
Socket.io
SerialPort
mjpg_streamer

9. ARDUINO
Controls Motors, Servos, Leds

10. OPENROV: HOW TO
Just plug the ethernet cable, and browse to:
http://192.168.254.1:8080

11. NODE.JS ON THE
BEAGLEBONE
If you use the default Angstrom distro, it just works.
DEMO

12. BONESCRIPT
Arduino-like library to simplify physical computing on the
BeagleBone
Get the lib at https://github.com/jadonk/bonescript

13. HELLO WORLD
rqie'oecit)
eur(bnsrp';
stp=fnto ( {
eu ucin )
pnoebn.S3 OTU)
iMd(oeUR, UPT;
}
lo =fnto ( {
op ucin )
dgtlrt(oeUR,HG)
iiaWiebn.S3 IH;
dly10;
ea(0)
dgtlrt(oeUR,LW;
iiaWiebn.S3 O)
dly10;
ea(0)
}

14. SHOW ME THE CODE
DEMO

15. CLIENT
Shows camera
Receives input from users (keyboard or joypad)
Displays value from sensors

16. NODE.JS
Spawns a new process for the camera capture
Communicates over socket.io with the browser
Handles unpackaging/compilation/upload to the b
Sends commands to Arduino

17. ARDUINO
Drive the motors
Tilts the servo
Lights the LEDs
Gathers values from sensors

18. FAKES
Eliminate dependencies on HW when testing or when
on Azure.

19. THE FUTURE
Complete v1 features
Refactor code
Handle automatic update of code
Allow extensibility, both HW and SW

20. MORE INFO
http://openrov.com - OpenROV community Site
https://github.com/OpenROV - Get the code
Twitter: @openrov
http://dronesandrovs.wordpress.com - My Build
Blog

21. THANKS
BY SIMONE CHIARETTA