Heron USV Tutorials

Heron Robot

This package supplies Sphinx-based tutorial content to assist you with setting up and operating your Heron mobile robot. The tutorials topics are listed in the left column, and presented in the suggested reading order.


These tutorials assume that you are comfortable working with ROS. We recommend starting with our ROS tutorial if you are not familiar with ROS already.

Simulation is a logical place for most users to start, as this is universally applicable; understanding how to effectively operate Heron in simulation is valuable whether you are in the testing phase with software you intend to ultimately deploy on a real Heron, or you do not have one and are simply exploring the platform’s capabilities.

The remainder of the subjects are more applicable to the real robot, and have to do with configuring, using, and maintaining the platform. If you are a lab administrator rather than direct platform user, you may wish to skip the introductory chapters and jump straight to these ones.