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-*An example can be downloaded from here: [3D step file](./stp_files/sonar_mount_1.stp)*
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- Correct screws
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-*See the [Mounting](#mounting) section*
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- 2 spade connectors *(or ring terminals)*
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- A JST 4-pin connector
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- WetLink Penetrator 6.5 *(low-compression)*
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-*[WetLink from Blue Robotics](https://bluerobotics.com/store/cables-connectors/penetrators/wlp-vp/)*
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- Ethernet Switch board
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-*Make sure you have an Ethernet Switch installed on your BlueROV2. This is needed for the integration of the Sonar 3D-15. The installation guide for the Ethernet Switch can be found here:*[Ethernet Switch Installation Guide from Blue Robotics](https://bluerobotics.com/learn/ethernet-switch-installation-guide-for-the-bluerov2/)
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## Prerequisites
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Before starting the integration, ensure you have all the necessary tools and parts ready.
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### Tools Required
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- Soldering iron and solder
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- Wire strippers / cutters
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- Heat gun or lighter (for heat shrink)
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- Small flathead screwdriver
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- Hex key set (for opening ROV and mounting)
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### Parts Required
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-**[BlueROV2 Roof Rack](https://bluerobotics.com/store/rov/bluerov2-accessories/rov-roof-rack/)**: To mount the sonar.
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-**Sonar Mount**: Custom mount for Sonar 3D-15.
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-*Download the example [3D step file](./stp_files/sonar_mount_1.stp)*
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-**Mounting Screws**:
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- 4x M4 screws (length depends on mount thickness) for Sonar-to-Mount.
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- 4x M4 screws + nuts + washers for Mount-to-ROV.
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-**Connectors**:
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- 2x Spade connectors (or ring terminals) for power.
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- 1x JST 4-pin connector (GH type usually used with BlueROV2 devices, verify pitch).
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-**[WetLink Penetrator 6.5mm (Low Compression)](https://bluerobotics.com/store/cables-connectors/penetrators/wlp-vp/)**: For passing cable into the enclosure.
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-**Ethernet Switch**:
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- Must be installed in the BlueROV2. See [Ethernet Switch Installation Guide](https://bluerobotics.com/learn/ethernet-switch-installation-guide-for-the-bluerov2/).
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---
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## Connector Setup
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## 1. Prepare the Connectors
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**Testing the Sonar 3D-15 Separately**
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If the I/O Interface board is attached, the Sonar 3D-15 can be tested directly using an Ethernet cable and a power supply. If you wish to test the device on its own before integration, follow the general Quickstart tutorial, available here: [Quickstart](https://docs.waterlinked.com/sonar-3d/sonar-3d-15-quickstart/).
@@ -142,174 +141,100 @@ To install the Sonar 3D-15 for the BlueROV2, perform the following procedure:
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## Mounting
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The Sonar 3D-15 needs to be physically attached to the BlueROV2 ROV. A possible option on how to do this will be listed here. There are many different approaches to achieve this, and this approach is only listed to provide an idea.
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## 2. Mount the Sonar
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Proper mounting is critical for accurate sonar performance.
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1.**Create or find a suitable mount**
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### Recommended Mounting Procedure
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An example 3D step file of a mount is found here: [Download 3D step file](./stp_files/sonar_mount_1.stp)
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1.**Prepare the Mount**
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If you haven't already, print or machine the mount.
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-[Download 3D step file](./stp_files/sonar_mount_1.stp)
Choose a 3D print material that can withstand the expected operating conditions.
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2.**Identify the screws and mount to use**
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Choose a material (like PETG or ABS) that can withstand the marine environment.
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Use `[M4x (5.0 + X) mm]` screws to attach the Sonar 3D-15 to the mount, and use `[M4x (9.0 + X) mm]` screws with hex nuts and washers to attach the mount to the BlueROV2 Roof Rack. Exchange the *X* with the thickness of your mount.
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For example, for a 3.0mm thick mount *(as the given 3D print)*, the following is sufficient:
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2.**Attach Sonar to Mount**
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Secure the Sonar 3D-15 to the mount using **4x M4 screws**.
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- Length = `5.0mm + Mount Thickness` (e.g., 8mm screws for a 3mm mount).
4.**Attach the mounted Sonar 3D-15 to the BlueROV2 ROV**
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We recommend putting the Sonar 3D-15 on the BlueROV2 Roof Rack in the front for the BlueROV2. In that way, the Sonar 3D-15 will not block the Sonar 3D-15’s field of view.
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3.**Attach Assembly to ROV**
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Mount the assembly to the **BlueROV2 Roof Rack**, preferably at the **front** to ensure a clear field of view.
Make sure the Sonar 3D-15 and cable are neatly and securely attached before use.
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!!! Checkpoint
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Verify the sonar is securely attached and the cable is routed neatly away from thrusters.
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---
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## Connection steps
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### 1. **Make your ROV ready for launch**
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Follow the [BlueROV2 Software Setup](https://bluerobotics.com/learn/bluerov2-software-setup/) guide to make your ROV ready for launch. This shows how to turn on the ROV and what software to install.
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The Sonar 3D-15 will now show a green light, indicating it is powered.
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### 2. **Access the Sonar 3D-15 GUI**
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We recommend installing the **[Sonar 3D-15 extension](https://github.com/waterlinked/BlueOS-Sonar-Extension)** found in the [BlueOS extension manager](https://www.google.com/search?q=https://blueos.cloud/docs/latest/usage/advanced/%23extensions-manager). If you use the extension, you can skip directly to **Connection Step 3**. Otherwise, follow the procedure below to connect manually.
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## 3. Configure Software & Network
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The Sonar 3D-15 GUI can be accessed by entering the Sonar 3D-15's IP-address into the browser running on the computer connected to the ROV.
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### Step 1: Prepare the ROV
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Power on the BlueROV2 and ensure it is connected to your computer.
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- Follow the [BlueROV2 Software Setup](https://bluerobotics.com/learn/bluerov2-software-setup/) if needed.
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-**Verify**: The Sonar 3D-15 should show a **green light**, indicating it is powered.
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You have to determine which IP-address has been automatically assigned to the Sonar 3D-15 by the BlueRov2 system. Steps to find it follows below. Once located, entering it in your browser will display a page like the one below — in this example, the Sonar 3D-15 is assigned the IP-address `192.168.2.172`.
We recommend using **Cockpit** for the best experience.
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!!! Warning
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Don't operate the Sonar 3D-15 out of water for any long periods. To avoid overheating of the Sonar 3D-15, **don’t click the green button “Enable Acoustics”**, until the ROV is submerged in water.
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Acoustics is always disabled when first booting up the Sonar 3D-15, and will be turned on once clicking this button. The Sonar 3D-15 will automatically turn itself off if too hot, but will take some time to cool down, it's best to avoid this happening.
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Find the IP-address corresponding to the Sonar 3D-15 on a computer by doing the following:
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1.**Find the IP-address of your computer on the BlueROV2 network**
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You need your own network IP-address on the BlueROV2 network.
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On **Linux** you find it by typing in:
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```sh
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ip a
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```
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in the terminal.
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On **Windows** you find it by typing in:
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```sh
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ipconfig
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```
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!!!Tip
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It's easier to find your IP-address if your computer is connected only to the BlueROV2 network.
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1. Open Cockpit and click the **collapse handle** on the left.
2.**Enable Acoustics**: In the Sonar GUI (now visible in Cockpit), click the green **"Enable Acoustics"** button.
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A quick easy way to see the IP-addresses of the devices on your local network is to use [nmap](https://nmap.org/download.html). Install it for your operating system and go to the terminal and write
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```sh
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nmap -sn <YOUR_IP>
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```
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This will scan the BlueROV2 network and show all accessible connected devices and their IPs.
To find the IP-address of the Sonar 3D-15, try the IP-addresses on the list by typing them into the search bar of your browser.
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- For example, if you have the list above, try `192.168.2.2`, `192.168.2.136`, `192.168.2.172` and so on. You may try them all safely.
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If the Sonar 3D-15 GUI appears, you have found the correct IP-address.
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!!! Tip
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You can also access the GUI on the Sonar 3D-15's fallback address `192.168.194.96`. This method is explained in more detail on the general quickstart guide, which can be found at [Quickstart](https://docs.waterlinked.com/sonar-3d/sonar-3d-15-quickstart/) .
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### 3. ***(Optional)* Open Cockpit with the Sonar 3D-15 GUI**
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We recommend using **Cockpit**, a new, highly customizable ground control station software from Blue Robotics. More information about Cockpit can be found here: [Cockpit Information](https://discuss.bluerobotics.com/t/cockpit-1-0-0-release/17744), and it can be installed from here: [Install Cockpit](https://github.com/bluerobotics/cockpit/releases/tag/v1.15.2).
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Once Cockpit is installed and the BlueROV2 is ready for launch, you will see the Cockpit GUI, as shown in the following picture. Click the **collapse handle** on the left to reveal the GUI options.
Instead of `http://blueos-avahi.local`, enter the IP-address for the Sonar 3D-15, as found in the previous step. In this example, the IP-address is `http://192.168.2.172`. Press *Enter* on your keyboard, then close the settings panel.
**Success!** You are now ready to use the Sonar 3D-15.
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### 4. **Enable acoustics**
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---
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When ready, click the ”Enable acoustics” button to initiate the Sonar 3D-15. It will display a 3D point cloud in the GUI representing the area in front of the Sonar 3D-15.
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