Add DVL sensor

[woensug-choi]

DVL sensor of nps_uw_sensors_gazebo is added.

Sensor specifications are defined at the nps_uw_sensors_gazebo repository.

Edited block to add the DVL sensor

https://github.com/Field-Robotics-Lab/glider_hybrid_whoi/blob/4e6433e445da9a9dadd4318a05b1437553307051/glider_hybrid_whoi_description/urdf/glider_hybrid_whoi_sensors_kinematics.xacro#L38-L42

Sensor specification

https://github.com/Field-Robotics-Lab/nps_uw_sensors_gazebo/blob/c840db6946c2a839a5153595d2aef2d300ad64b0/models/whoi_teledyne_whn/model.sdf#L20-L49

      <sensor name="dvl_sensor" type="dsros_dvl">
        <always_on>1</always_on>
        <update_rate>7.0</update_rate>
        <plugin name="dvl_sensor_controller" filename="libdsros_ros_dvl.so">
          <robotNamespace>dvl</robotNamespace>
          <topicName>dvl</topicName>
          <rangesTopicName>ranges</rangesTopicName>
          <frameName>dvl_base_link</frameName>
          <pointcloudFrame>dvl_base_link</pointcloudFrame>
          <updateRateHZ>7.0</updateRateHZ>
          <gaussianNoiseBeamVel>0.005</gaussianNoiseBeamVel>
          <gaussianNoiseBeamWtrVel>0.0075</gaussianNoiseBeamWtrVel>
          <gaussianNoiseBeamRange>0.1</gaussianNoiseBeamRange>
          <minRange>0.7</minRange>
          <maxRange>90.0</maxRange>
          <maxRangeDiff>10</maxRangeDiff>
          <beamAngleDeg>30.0</beamAngleDeg>
          <beamWidthDeg>4.0</beamWidthDeg>
          <beamAzimuthDeg1>-135</beamAzimuthDeg1>
          <beamAzimuthDeg2>135</beamAzimuthDeg2>
          <beamAzimuthDeg3>45</beamAzimuthDeg3>
          <beamAzimuthDeg4>-45</beamAzimuthDeg4>
          <enableWaterTrack>1</enableWaterTrack>
          <waterTrackBins>10</waterTrackBins>
          <currentProfileCoordMode>0</currentProfileCoordMode>
          <pos_z_down>false</pos_z_down>
          <collide_bitmask>0x0001</collide_bitmask>
        </plugin>
        <pose>0 0 0 0 0 0</pose>
      </sensor>

Topics

• /dvl/dvl/state (std_msgs/Bool): should be true as long as the DVL is active (can be activated and deactivated with the /dvl/dvl/change_state service).
• /dvl/dvl (uuv_sensor_ros_plugins_msgs/DVL): provides the current DVL-derived linear velocities (relative to the dvl_base_link, which is oriented forward-left-up) and covariance, perceived altitude above the bottom (computed as the average of the 4 individual sonar ranges), and the ranges and other information for the 4 individual DVL sonar beams.
• /dvl/dvl_twist (geometry_msgs/TwistWithCovarianceStamped): provides the current DVL-derived linear velocities
• /dvl/dvl_sonar0, /dvl/dvl_sonar1, /dvl/dvl_sonar2, and /dvl/dvl_sonar3 (sensor_msgs/Range): Range and other information for each individual DVL sonar

Tutorials for the sensor and water tracking features including seabed gradient

https://github.com/Field-Robotics-Lab/dave/wiki/whn_dvl_examples https://github.com/Field-Robotics-Lab/dave/wiki/DVL-Water-Tracking https://github.com/Field-Robotics-Lab/dave/wiki/DVL-Seabed-Gradient

How to test

roslaunch glider_hybrid_whoi_gazebo start_demo_kinematics.launch

[woensug-choi]