mapuigsari/pez repository overview

⁠Pez - ROS2 Robotic Fish Control and Communication

Docker images for underwater robotic fish teleoperation, sensor integration, and acoustic communication, built on ROS2 Humble. Available in three flavors:

• mapuigsari/pez:core-arm64v8: Fish-side container for Raspberry Pi 4 (64-bit) with:

  • ROS 2 Humble runtime
  • Bluerobotics Navigator support
  • Sensor integration (temperature, pressure, depth)
  • Optional acoustic modem bridge

• mapuigsari/pez:core-amd64: Host-side development container with:

  • ROS 2 Humble
  • Joystick teleoperation
  • RQT and PlotJuggler visualization
  • Real-time sensor monitoring

• mapuigsari/pez:comms-arm64v8: Minimal communications container for:

  • Acoustic modem bridging
  • YAML-configurable packet handling
  • Use on surface buoys

Features YAML-driven communication, custom packet protocols, and seamless integration between ROS1 and ROS2 nodes over acoustic links.