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Robotic-Decision-Making-Lab / blue

ROS 2 platform for underwater robotics research and development.
https://robotic-decision-making-lab.github.io/blue/
MIT License
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[FEATURE]: Add WaterLinked DVL A50 localization source #99

Closed evan-palmer closed 2 months ago

evan-palmer commented 10 months ago

Feature Type

Adding new functionality to the BlueROV2 driver

Problem Description

A common platform for velocity estimation on portable inspection-class systems is the WaterLinked DVL A50. It would be useful to provide support for that, particularly when the EKF interface is switched to the external EKF.

Feature Description

Implement an interface for the WaterLinked DVL A50. I have implemented this already for Hinsdale testing, but need to port it.

Alternative Solutions

N/A

Additional Context

The DVL sensor rate is super low and makes it a little difficult to get useful velocity data (there will be large corrections in the velocity).

evan-palmer commented 2 months ago

I'm planning to port all of the localization implementation to a new repo so that things are maintained independently from this (now) meta-repo. I'll keep the relevant branch until I port things over, but am going to close this for now.