[Interfaces] Standardized Acoustic Message format for modems

ros-maritime / issue_tracking

A meta repo to track the state of Maritime support in ROS 2/GazeboSim

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[Interfaces] Standardized Acoustic Message format for modems #5

Open arjo129 opened 2 years ago

EricGallimore commented 2 years ago

Obviously I'm biased, but I'd suggest looking at ros_acomms. It abstracts the modem interface, and allows you to send arbitrary ROS messages over acoustic links. So far, it's been used with the WHOI Micromodem (which is the target platform) as well as Sonardyne modems and Iridium RUDICS links.

https://git.whoi.edu/acomms/ros_acomms

lauralindzey commented 2 years ago

Hah! I came in here to strongly suggest looking at ros_acomms, but I see that Eric beat me here =)

I did an adaption of @rolker's Sonardyne modem to support the ros_acomms types, and owe him a merge request now that ros_acomms has been open sourced.

The one downside is that they're very micromodem centric, though I hadn't had issues in figuring out how to make it work with other hardware.