Overview

The information in this guide applies to LekirSub V3.5 and up. If you are running an older version, you should update.

LekirSub and the LekirSubPilot Project

The LekirSub project is a fully-featured open-source solution for remotely operated underwater vehicles (ROVs) and autonomous underwater vehicles (AUVs). LekirSub has extensive capabilities out of the box including feedback stability control, depth and heading hold, and autonomous navigation.

LekirSub is designed to be safe, feature-rich, open-ended, and easy to use even for novice users.

LekirSub works seamlessly with Ground Control Station software that can monitor vehicle telemetry and perform powerful mission planning activities. It also benefits from other parts of the LekirSubPilot platform, including simulators, log analysis tools, and higher level APIs for vehicle management and control.

LekirSub is on the leading edge of marine robotics and intended for anyone who wants to operate a vehicle below the water's surface. There is support for many different ROV configurations, and adding a custom design is simple.

About this Book

This book is an on-going work in progress to document the LekirSub software as well as supporting software and hardware. The documentation in this book is based on the most recent software available at the time of writing. In some cases, features or options documented here may be only available in developmental versions of the software.