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gt-marine-robotics-group / Pontus

The GT Marine Robotics Group's software for RoboSub.
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Add sonar driver #18

Closed chachmu closed 11 months ago

chachmu commented 12 months ago

This adds the blueview sonar driver to the pontus_sensors package. Since the driver is in C++ the package had to be converted to use ament_cmake so that it can support both C++ and python nodes in the same package.

Additionally, the blueview SDK cannot be distributed publicly so it is added as a submodule in the package that links to a private repo. If you intend to use the driver make sure to run git submodule update --init --recursive to install the SDK.

The code is currently set to run using the physical sonar but if you want to test the driver you can comment out the device parameter in the config/blueview.yaml file and uncomment the file variable in the launch file. I also recommend changing the period parameter in the config file to 1 so that the node doesn't instantly publish all of the frames in the file.

mroglan commented 12 months ago

Two things: a) For the jet.cmap file passed as the value to the color_map parameter, is that file in pontus_sensors? b) Can we move the cpp files in pontus_sensors from the src directory to the pontus_sensors directory?

chachmu commented 11 months ago

a) jet.cmap comes with the blueview sdk which gets installed into the bvtsdk folder. Honestly I doubt we will ever use the color mode, it's really only useful for making the image nice for humans to look at and I didn't want to remove functionality that the driver already had in case it ends up being useful somehow.

b) I don't think I've ever heard of putting C++ files in that directory before, typically that is used for python library files while include and src are used for hpp and cpp files respectively.