Cerulean Sonar/BlueOS-Docker

HI I was wondering if the BlueOS-Docker is ready yet for cerulean sonars I found GitHub - CeruleanSonar/BlueOS-docker: Refactor Blue Robotics original companion system: https://github.com/bluerobotics/companion on GitHub but I’m not sure if its ready or how to install it. Please advise

If you enable pirate mode (in the gear icon in the left hamburger menu), you can go to the NMEA Injector and create a new socket on the default port of 27000. Then DVL or ROVL (via Cerulean Tracker) should be able to send $GPRMC strings to the ROV.

These sockets are not persistent across a reboot. You can manually re-create the socket on each boot. Or you can automate it with the API. I did it with crontab -e.

Go to the bottom of the file, and add this line:
* * * * * curl -X 'POST' '' -H 'accept: application/json' -H 'Content-Type: application/json' -d '{"kind": "UDP","port": 27000,"component_id": 220}'

This command will run once per minute. It’s okay that it runs repeatedly, the API will simply reject the request because the port is in use.

Also, use the Blue Robotics version of BlueOS-Docker. Our fork is for internal use.

Thanks, Nick

I added it via the NMEA Injector that worked.

But could you please provide me with more detailed for crontab -e, I added the code you said but it does seem to work


Make sure that command is all on one line when you paste it in to the crontab. Put it at the bottom of the crontab, and add a blank line after the command.

You can also try pasting the command directly into a terminal without the * * * * * at the beginning to see if it throws an error.

So I upgraded to the navigator flight controller, and these settings are not working in the nmea injector. any tips would be apreciated.


After you have created the socket for the NMEA injector, do you have any documentation on how to send the NMEA data to the port 27000?

Hi team! I faced one issue right now i have connected the dvl to my rov but it does not connect to the com port. And ROVL RX has one issue
-ROVL slant range is suspicously high
any ideas regarding these two issues?

For the DVL issue, did you look here?

Another alternative is that COM12 has been assignedby the Topside GPS. Look on the “Topside GPS” tab and see if COM12 is assigned to it.

For the ROVL issue, can you show the $USRTH window? Or click the “logging” checkbox on the “Dashboard” tab and let it run for a minute or two, then send us the log file?

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hey! don.krantz thanks for your responce.
But I dont have access to that page for the DVL issue.

What can i do now?
Sure! ill send the log file ASAP!

Sorry, someone here has been modifying some of our documentation. I’ll get it sorted out and get back to you. Meanwhile, did you try the other thing I suggest about looking at the Topside GPS?

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Also, please click the “Query Configuration” button on the ROVL Command Wind while the log file is open.

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The correct link for the CeruleanTracker Docs is here. The correct link for the page Don meant to send is here. All other Cerulean Docs can be found here.

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Yes! The topside GPS was connected to com12

Hi Karthik,

Looking back through the thread, I see there are only two COM ports active on your computer, COM5 and COM12. COM5 is assigned to the ROVL. COM12 is assigned to the topside GPS. I’m pretty confident your DVL serial port is not attached to the PC either virtually or physically. What is your thinking on how the DVL is connected?

Also, I see the firmware update window is open on your PC. You should only have this open when you are updating firmware, as it will monopolize a serial port thus preventing positioning information from being processed.

If you are still seeing a ROVL error, I’m still waiting on a picture of the $USRTH window.

Good luck!

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Thanks don!
Rovl issue was resolved.
Here $USRTH window

What can i do with this DVL can you explain.
i connected the DVL usb to RP4 in my vehicle!

OK, the RPi serial ports are not connected to the PC. You will need to add port forwarding on the RPi to connect to CeruleanTracker on the PC, you will need to look up how to do this on whatever software you are using on the ROV and RPi. Usually it’s System Integrators or advanced users who connect the serial port to the RPi. Most other users connect the Ethernet interface on the DVL if they plan to talk to it via the PC.

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Thank you don ill look into it!