/nortek_dvl

ROS driver for Nortek DVL 1Mhz and pressure 300m

Primary LanguageC++MIT LicenseMIT

ROS driver for Nortek DVL 1Mhz and pressure 300m

This version tested in nVidia Jetson TX2 Ubuntu 18.04 with ROS melodic

Licence: MIT License

Installation

  • Install dependencies
    • Install ros serial, please check here for more information. For ubuntu 18.04/ROS melodic, just using command below 
      $ sudo apt-get install ros-melodic-serial
    • Install ros message package for DVL:
        $ cd ~/your_path_catkin_ws/src
    $ git clone https://github.com/URIsoslab/soslab_msgs
    $ catkin_make --pkg soslab_msgs
  • Install DVL driver 
    $ cd ~/your_path_catkin_ws/src
$ git clone https://github.com/URIsoslab/nortek_dvl.git

Build

$ cd ~/your_path_catkin_ws/
$ catkin_make --pkg nortek_dvl

Usage

  • Fix USB permission:

    $ ls -l /dev/ttyUSB* # check your permissions
$ id -Gn {usrname} # replace {usrname} with your usrname, check if "dialout" is there
$ sudo usermod -a G dialout {usrname} # add dialout in your username

  • Launch

    $ roslaunch nortek_dvl star_dvl.launch

  • Change usb port:

    • go to /nortek_dvl/launch/star_dvl.launch
    • change "port_name" as you find the DVL

  • Close the DVL:

    • Please wait for the DVL driver is fully shutdown, otherwise you will need to use another USB port, like /ttyUSB1.
    • using ctrl+c, not ctrl+z

Current setup:

  • Accoring to the setup, DVL is sending button_track msg (/nortek_dvl/dvl) and current_profile msg (/nortek_dvl/current_profile) as follow stream.

    button_track <---1s---> button_track <---1s---> button_track <---1s---> button_track <---1s---> current_profile

  • So the /nortek_dvl/dvl is 0.8 hz /nortek_dvl/current_profile is 0.2 hz from rostopic hz ...