Closed rakeshv24 closed 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?
@woensug-choi I have incorporated all your suggestions. Hope it works fine now!
@woensug-choi okay great! In that case, can I merge this?
@rakeshv24 Yes Please!
This PR introduces the following features and improvements:
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.
Added the corresponding custom ROS 2 messages to the
dave_interfaces
package, and developed the plugin in thedave_ros_gz_plugins
package.Integrated the
gz::sim::systems::DopplerVelocityLogSystem
plugin into thedvl_world.sdf
file for testing purposes.Included multiple DVL sensor models in the
dave_sensor_models
package.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.