ROS driver for Nortek DVL 1Mhz and pressure 300m (still in progress, basic is working)

This version tested in ubuntu 18.04

Licence: MIT License

Installation

• Install dependencies
  • Install ros serial, please check here for more information. For ubuntu 18.04/ROS melodic, just using command below

    $ sudo apt-get install ros-melodic-serial 
    
    

• Install DVL driver

  $ cd ~/your_path_catkin_ws/src
  $ git clone https://github.com/URIsoslab/nortek_dvl.git
  

Build

$ cd ~/your_path_catkin_ws/
$ catkin_make --pkg nortek_dvl

Usage

• Fix USB permission:

  $ ls -l /dev/ttyUSB* # check your permissions
  $ id -Gn {usrname} # replace {usrname} with your usrname, check if "dialout" is there
  $ sudo usermod -a G dialout {usrname} # add dialout in your username

• Setup

  • select PNORBT7 for Botton Track
  • select PNORI1/PNORS1/PNORC1 for Current Profile

• Launch

  $ roslaunch nortek_dvl star_dvl.launch

• Change usb port:

  • go to /nortek_dvl/launch/star_dvl.launch
  • change "port_name" as you find the DVL

TODO:

• change bottom track to PNORBT9 so that it includes pressure
• apply ros cfg
• close thread appropriately