It will publish the bottom track, water track and current profile data.
cd ~/your_ws/src
git clone -b ros2-devel https://github.com/GSO-soslab/nortek_dvl_ethernet
cd ~/your_ws
colcon build --packages-select nortek_dvl_ethernet
ros2 launch nortek_dvl_ethernet driver.launch.py| Topic | Type | Description |
|---|---|---|
bottom_track |
nortek_dvl_ethernet::NortekDF2 |
Bottom track raw data (DF21) |
water_track |
nortek_dvl_ethernet::NortekDF2 |
Water track raw data (DF22) |
current_profile |
nortek_dvl_ethernet::NortekDF3 |
Current profile raw data (DF3) |
bt_velocity |
geometry_msgs::TwistWithCovarianceStamped |
Bottom track velocity for navigation |
bt_pointcloud |
sensor_msgs::PointCloud2 |
Bottom track point cloud from 4 beams |
bt_altitude |
sensor_msgs::PointStamped |
Bottom track altitude (averaged from 4 beams) |
wt_velocity |
geometry_msgs::TwistWithCovarianceStamped |
Water track velocity for navigation |
pressure |
sensor_msgs::FluidPressure |
Pressure data (Bar to Pascal conversion) |
| Parameter | Default | Description |
|---|---|---|
udp_rx |
9004 |
UDP receive port |
udp_address |
192.168.2.110 |
DVL IP address |
buffer_size |
512 |
UDP buffer size |
beam_angle |
25.0 |
DVL beam angle (degrees) |
sound_speed |
1500.0 |
Sound speed (m/s) |
fluid_density |
1023.0 |
Fluid density (kg/m³) |
sensor_frame_id |
nortek_dvl |
Frame ID for sensor messages |
world_frame_id |
world |
World frame ID for odometry |
pressure_frame_id |
nortek_dvl_pressure |
Frame ID for pressure sensor |
depth_cov |
0.001 |
Depth covariance |
This package is inspired by DVL driver from WHOI Deep Submergence Lab.