Additional default bathymetry environments

[woensug-choi]

Candidate 1: Alarcon Rise

• Hard to find a good square tile with interesting geometries
• Resolution : 2m
• Link : https://www.marine-geo.org/tools/search/Files.php?data_set_uid=24366
• Fledermaus screen shot
  • GOCAUV_AR2_2m.grd
  • It's grd file converted to GeoTiff

Candidate 2: Penguin Bank

• Look OK, but not much of plane
• Resolution : 75 cm
• Link : https://www.marine-geo.org/tools/search/Files.php?data_set_uid=24449
• Fledermaus screen shot
  • XYZ file converted to GeoTiff
  • MS03-bat75cm-Final.xyz
  • Square patch within

Candidate 3: Axial Seamount

• Resolution : 75 cm

• Link : https://www.marine-geo.org/tools/datasets/30219 Clague, D.; Caress, D. and J. Paduan, (2022). Preliminary 1-meter resolution bathymetric model (ESRI ASCII grids) for the summit region of Axial Seamount, version as of 10 March 2021. IEDA. doi:10.26022/IEDA/330219

• Fledermaus screen shot

  • ASC (XYZ) file converted to GeoTiff

  • AxialSummit_MAUV_10Mar2021_All_OverEM302_Topo1mSq.asc

    

    • North-East region look interesting

      

    • Small patch in the North-East region (High ground at North-East, Low gound at South-West)

      

      • Converted Model SDF includes mesh file about 367MB in size

[woensug-choi]

Working on to make a launch/world file

[woensug-choi]

Now narrowed down to two candidates, https://github.com/Field-Robotics-Lab/dave/pull/202 https://github.com/Field-Robotics-Lab/dave/pull/203

Closing this issue.

[woensug-choi]

Documented at https://github.com/Field-Robotics-Lab/dave/wiki/Bathymetry-Models