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lauralindzey edited this page Mar 4, 2021
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The purpose of this project is to generate a set of standardized ROS messages suitable for diverse underwater applications.
We have a small (and growing) set of packages that are already using the proposed messages:
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acoustic_msgs/Dvl.msg
- Fork of WHOI's Gazebo plugin: https://gitlab.com/apl-ocean-engineering/ds_sim/-/tree/hydrographic_msgs (use hydrographic_msgs branch)
- rviz plugin forked/extracted from WHOI's repo: https://gitlab.com/apl-ocean-engineering/dvl_rviz_plugins
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acoustic_msgs/SonarImage.msg:
- Driver for a Blueprint Oculus M1200d: https://gitlab.com/apl-ocean-engineering/oculus_sonar_ros
- NPS's forward looking sonar Gazebo plugin: https://github.com/Field-Robotics-Lab/dave/wiki/Multibeam-Forward-Looking-Sonar
- utility node for converting a SonarImage into a sensor_msgs/Image (for visualization with rqt): https://github.com/apl-ocean-engineering/libdraw_sonar
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acoustic_msgs/SonarRanges.msg
- =( None yet, but a fork of WHOI's Kongsberg and Norbit drivers would be simple given how closely the proposed message is derived from the definitions in ds_msgs.