[FEATURE]: Transition blue_localization to marine_localization and independent drivers

evan-palmer commented 7 months ago

Feature Type

Adding new functionality to the BlueROV2 driver

Problem Description

This is a book-keeping issue to track the transition of the blue_localization package to marine_localization and to independent drivers for the respective localization sources.

Feature Description

The following changes will take place in the scope of this issue:

[ ] Convert dependency on the ArduSub EKF to either robot_localization (which is unfortunately no longer supported by ROS despite it being a pretty nice package) or to Fuse which is now the official localization framework for ROS but has less support for features that underwater vehicles might use
[x] Export Qualisys source to its own driver (or find an alternative driver)
[x] Export BlueROV2 camera interface to its own driver
[x] Export the A50 DVL implementation to its own driver
[x] Document the supported drivers
[ ] Add a demo showing how to perform localization with the updated system
[ ] (optional) Implement publishers for some common sensors as ros2_control sensors. This would be similar to the imu_sensor_broadcaster and force_torque_sensor_broadcaster and should use APL's marine_msgs package.

Alternative Solutions

n/a

Additional Context

No response

evan-palmer commented 4 months ago

@amarburg Here is the issue that I have been tracking the localization things that we discussed offline in (specifically task 1)

evan-palmer commented 3 months ago

Adding this here so that I don't forget in the future:

APL has a nice driver for the Oculus sonar here. It would be good to integrate support for that and document it.

evan-palmer commented 3 months ago

Regarding the motion capture systems, there has been quite a bit of work in the MOCAP4ROS2 organization that can be used and documented

evan-palmer commented 3 months ago

Here is a ROS 2 driver (supports Foxy) for the Ping 360 sonar

amarburg commented 3 months ago

APL has a nice driver for the Oculus sonar here. It would be good to integrate support for that and document it.

I think Rakesh was working on a ROS2 version of the Oculus driver this summer (?)

evan-palmer commented 2 months ago

I'm currently testing our new Water Linked DVL driver here. Once that is finished, I'll add a section to the docs to list supported drivers.

evan-palmer commented 2 months ago

Tracking Fuse support for 3D motion models here

evan-palmer commented 2 months ago

Once #292 is merged, I'll open a new PR that deprecates the Qualisys driver.

evan-palmer commented 1 month ago

We can document blue_rov_camera as an alternative to the BlueROV camera source used in the project.

evan-palmer commented 1 month ago

3D motion models are now supported in Fuse, so it should be possible to use this rather than robot_localization

Robotic-Decision-Making-Lab / blue