mzhouURI / nortek_dvl

ROS driver for Nortek DVL 1Mhz and pressure 300m

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 ...