Seapath_ros_driver_node

Goal

• Driver for extracting data from the Seapath 13x OEM

• Receives packets of size 132B containing the KMBinaryData struct over a UDP Socket bound to port 31421.

• The driver then publishes the data gathered over the ROS2 network in various publishers.

Publishers of

• /diagnostic
• /odom/origin
• /seapath/odom/ned
• /seapath/kmbinary
• /seapath/navsatfix

Broadcast

• /tf

Service

• set_origin

Topics

• /diagnostic

  Topic Info
  Message type	diagnostic_msgs/DiagnosticArray

  • Function

    • Provide information regarding the status of the hardware connection and the quality of the data it receives.
    • In case of an error, it also includes the error's name and message.

• /odom/origin

  Topic Info
  Message type	sensor_msgs/NavSatFix

  • Function

    • Provide the position of the frame origin in the world frame.

• /seapath/odom/ned

  Topic Info
  Message type	nav_msgs/msg/Odometry

  • Function

    • Provides the ASV’s current position, velocity, and orientation in the NED (North-East-Down) coordinate frame.
    • This topic is essential for localization and feedback control, allowing guidance and control nodes to compute reference trajectories and correct deviations from the desired path.
    • It serves as the primary source of navigation data within the autonomous system.

• /seapath/kmbinary

  Topic Info
  Message type	Custom

  • Function

    • It provides the raw data from the GNSS.

• /seapath/navsatfix

  Topic Info
  Message type	sensor_msgs/NavSatFix

  • Function

    • Provides the current position in the world frame; in particular, it returns coordinates in latitude and longitude.

Broadcast

• /tf

  • message

    • Transformation matrix from the world frame to the vehicle frame, computed using a quaternion.

Service

• set_origin

  • Service type

    • This service is a trigger-type service: it doesn't require any input and returns a boolean value to indicate success or failure, along with a message containing more details.

  • Function

    • Save the current position as the frame origin.