IOES-Lab / dave

Project DAVE
Apache License 2.0
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[GSOC-95] Custom ros_gz bridge for DVL plugin #14

Closed rakeshv24 closed 2 months ago

rakeshv24 commented 2 months ago

This PR introduces the following features and improvements:

  1. Developed a custom bridge to subscribe to Gazebo DVL messages and publish them to a ROS 2 topic using custom message types. This plugin can be integrated at the model level for added flexibility.

  2. Added the corresponding custom ROS 2 messages to the dave_interfaces package, and developed the plugin in the dave_ros_gz_plugins package.

  3. Integrated the gz::sim::systems::DopplerVelocityLogSystem plugin into the dvl_world.sdf file for testing purposes.

  4. Included multiple DVL sensor models in the dave_sensor_models package.

  5. Updated the launch files in the dave_demos package to improve generalization and flexibility.

Please find the documentation here.

Note: The water tracking mode has not yet been tested. It will be verified once the ocean current plugin is available.

woensug-choi commented 2 months ago

The DVL sensor falls down as it starts. Could we keep it fixed at a position few meters above ground with <static> at SDF?

rakeshv24 commented 2 months ago

@woensug-choi I have incorporated all your suggestions. Hope it works fine now!

rakeshv24 commented 2 months ago

@woensug-choi okay great! In that case, can I merge this?

woensug-choi commented 2 months ago

@rakeshv24 Yes Please!