Add depth sensor

[bsb808]

Need to simulate a glider depth sensor.

• What currently exists?
  • The UUV Simulator has a pressure sensor plugin. Is this useful? Is there documentation? https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_sensor_plugins/uuv_sensor_ros_plugins/include/uuv_sensor_ros_plugins/SubseaPressureROSPlugin.hh
• If necessary, a simple plugin shouldn't be a big effort.
  • Should it use the WHOI Deep Submergence DepthPressure message? This doesn't introduce a new dependency and provides some commonality. https://bitbucket.org/whoidsl/ds_msgs/src/master/ds_sensor_msgs/msg/DepthPressure.msg

[bsb808]

@WHOI Please provide performance specification for the u/w glider depth sensor, e.g., precision and accuracy expressed as variance or stdev, range min/max., etc.

[greg-burgess]

Any pressure sensor that provides depth will suffice. Range: minimum- 0 maximum- 1362 meters

Accuracy: +/- 1m

Precision: +/- .01m

[greg-burgess]

The SubseaPressureROSPlugin.cc will work fine

[woensug-choi]

PR https://github.com/Field-Robotics-Lab/glider_hybrid_whoi/pull/27 is made for the depth/pressure sensor.

[woensug-choi]

PR https://github.com/Field-Robotics-Lab/glider_hybrid_whoi/pull/27 is merged.

The pressure sensor can are defined as

      topic="pressure"
      mass="0.015"
      update_rate="10"
      range="1362"
      noise_sigma="3.0"
      noise_amplitude="0.0"
      estimateDepth="true"
      standardPressure="101.325"
      kPaPerM="9.80638">
      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
      <origin xyz="0.0 0.0 -0.0825" rpy="0 ${0.5*pi} 0" />

Closing this issue page as it was for intial sensor set-up discussions. Please revive this issue page when we need further specifications or discussions.