Waterlinked DVL ROS Driver

This repository contains ROS Driver for Waterlinked DVL.

The driver currently supports TCP communication. The project is safety use yet the interface is subject to change.

ROS Interface

Topics

• Topic: dvl/twist

  Message Type: geometry_msgs::TwistWithCovarianceStamped

• Topic: dvl/pose

  Message Type: geometry_msgs::PoseWithCovarianceStamped

• Topic: dvl/transducer_report

  Message Type: waterlinked_dvl::TransducerReportStamped

• Topic: dvl/position_report

  Message Type: waterlinked_dvl::PositionReportStamped

Parameters

• ip
• frame_id
• velocity_covariance
• position_covariance
• speed_of_sound
• mouting_rotation_offset
• acoustics_enabled

Services

• acoustics_enabled
• get_last_response
• get_running_config