Sensors interfacing Package

Description

This package contains the sensors low-level hardware drivers of Vortex AUV wrapped by ROS2 C++ nodes.

License

The source code is released under a GNU GENERAL PUBLIC LICENSE

Author: vortex-co
Affiliation: VorteX-Co
Maintainer: vortex-co, info@vortex-co.com

Table of contents

• Prerequisites
• Dependencies
• DVL Sensor * Description * Usage * Info

Prerequisites

• ROS2 - Eloquent.

Dependencies

• ros_custom_interfaces package

DVL-Sensor

Description

• The sensors packages contains a c++ node for serial-interfacing with waterlinked A50 DVL. Before executing the dvl_serial.cpp node you should establish the following connection:

Usage

1- Build the sensors packages

$ cd ~/vortex_ws
$ colcon build --packages-select sensors

2- In a new terminal, source the workspace and run the dvl node

$ cd ~/vortex_ws
$ . install/setup.bash
$ ros2 run sensors pub // the default port name is "/dev/ttyUSB0"

3- Passing the port name to the dvl node as an argument

$ cd ~/vortex_ws
$ . install/setup.bash
$ ros2 run sensors  pub --ros-args -p  Port:="/dev/ttyUSB0"

Info

DVL Serial Node interface

• Topic name = “Vortex/DVL”
• Message name = “DVL.msg”

Where DVL.msg is a custom msg has the following components:

• stamp: current rclcpp::clock stamp (s)
• dt: time passed since last velocity report (s)
• twist: vector of Measured velocity in [x,y,z] directions (m/s)
• variance: estimated value based on measured figure of merit (m/s)^2
• translation: vector of estimated translations in [x_dvl, y_dvl, z_dvl] due to the measured velocity (m)
• altitude: Measured altitude to the bottom (m)
• valid: if ture then the DVL has lock on the bottom and the altitude and velocities are valid (true/false)
• status: if false then the DVL in normal operation, true then there is a high temperature warning (true/false)
• count: count of velocity reports from initializing the conection with the serial port