To reduce the development complexity of underwater remote-operated vehicles and increase their adaptability and applications,a monitor system for underwater remote-operated vehicles based on ROS is developed.First,the hardware structure of the monitor system is introduced briefly.The software framework of the monitor system based on ROS is proposed.The compositions and functions of the perceptual execution,navigation control,and monitoring operation layers are introduced.The design of three functional modules,namely the motion control,human-robot interaction,and attitude control nodes,are described.Experiments show that the monitor system of the underwater remote-operated vehicle based on ROS can coordinate the work of each functional module.It is characterized by a short development cycle and good expansibility.