Adapt to new acoustic_msg format

[woensug-choi]

A new format of acoustics_msgs (https://github.com/apl-ocean-engineering/hydrographic_msgs/tree/main/acoustic_msgs) has been released.

Following modifications are made:

• Adapt to the new msg format
  • Old: SonarImage.msg
  • New : ProjectedSonarImage.msg (SonarImageData.msg)

Tested environment:

• cuda-dev branch of dockwater (which uses cuda-dev branch of the rocker)
  • https://github.com/osrf/rocker/pull/158
  • https://github.com/Field-Robotics-Lab/dockwater/pull/9

Tested commands:

# Raster version
roslaunch nps_uw_multibeam_sonar sonar_tank_blueview_p900_nps_multibeam.launch
# GPU Ray version
roslaunch nps_uw_multibeam_sonar sonar_tank_blueview_p900_nps_multibeam_ray.launch

# ROS topic readings
rostopic echo /blueview_p900/sonar_image_raw

Should work in both dockwater (docker environment) and host machine installation.

Dave.doc PR: https://github.com/Field-Robotics-Lab/dave.doc/pull/1

[woensug-choi]

There is a new rviz_image_view rviz plugin for the ProjectedSonarImage message. https://github.com/rolker/rviz_sonar_image

Dave.doc description will include how to use the plugin.

[woensug-choi]

Merging this as it was tested by @rolker