• underwater
• manoeuvering
• underwater robots
• human machine interface
• ros
• gui
• control
• uuv
• noc
• rov
• piloting
• hmi
• joystick
• auv

The work involved the development and validation of a multiplatform piloting system for a fleet of underwater vehicles, with the purpose to simplify the launch and recovery procedures. A series of ROS packages were created to build a complete human-machine interface that can allow an operator to control a generic underwater vehicle through a commercial joystick. The development process took into account the flexibility and safety requirements, allowing multiple modes of operation and configuration of parameters that would maintain the autonomy of the piloted vehicle. Additionally, a GUI was developed to show information about the status of the system and the commands being sent. The project was validated both in simulation and through exstensive tests in an acoustic tank.