Set of Ethernet and Serial communication drivers for CeruleanSonar sensors for ROS.
Connect the DVL via ethernet, see the official documentation for more info.
roslaunch cerulean_sonar_ros tracker650.launch
/dvl/nmea_string(std_msgs/String): Raw NMEA strings for debugging./dvl/beam_A(sensor_msgs/Range): Range data from beam A including distance measurements and confidence values./dvl/beam_B(sensor_msgs/Range): Range data from beam B including distance measurements and confidence values./dvl/beam_C(sensor_msgs/Range): Range data from beam C including distance measurements and confidence values./dvl/beam_center(sensor_msgs/Range): DVL standoff value, center distance to bottom./dvl/beams_all(sensor_msgs/Range): A, B, C, and center beams consolidated under one topic./dvl/vel(geometry_msgs/TwistStamped): Velocity data averaged from all beams, published as a twist message with the vertical velocity component.
Each beam's Range message includes:
- Timestamp
- Range measurement in meters
- Frame ID specific to each beam
- Fixed parameters for field of view, minimum and maximum ranges
Channel mapping chart:
Connect the USBL via USB, it's expected on /dev/ttyUSB0, which needs to be changed in the launch file if different. See the official documentation for more info.
roslaunch cerulean_sonar_ros rovlocatormk2.launch
/locator/nmea_string(std_msgs/String): Raw NMEA sentence received from the serial connection (published only if enabled)./locator/imu/data(sensor_msgs/Imu): IMU data including orientation from Euler angles converted to a quaternion./locator/receiver_pose(geometry_msgs/PoseStamped): The pose of the receiver based on IMU data./locator/transmitter_true_pose(geometry_msgs/PoseStamped): The true position of the transmitter calculated from true bearing, elevation, and slant range./locator/transmitter_apparent_pose(geometry_msgs/PoseStamped): The apparent position of the transmitter based on apparent bearing, elevation, and slant range./locator/bearing_math(std_msgs/Float32): Apparent bearing (math-based calculation)./locator/bearing_compass(std_msgs/Float32): Apparent bearing (compass-based measurement)./locator/elevation(std_msgs/Float32): Apparent elevation angle./locator/slant(std_msgs/Float32): Slant range distance from receiver to transmitter./locator/compass_heading(std_msgs/Float32): Compass heading based on the received data.
Connect the echosounder via ethernet, see the official documentation for more info.
roslaunch cerulean_sonar_ros s500.launch
/sonar/range(sensor_msgs/Range): Publishes the sonar's distance measurements at 10Hz.
