Teledyne Navigator ROS Package

This ROS package configures and communicates with the Teledyne Navigator Doppler Velocity Log (DVL). This has only been tested on ROS Kinetic and Melodic over RS232.

Setting up

You must clone this repository as teledyne_navigator into your catkin workspace's src directory:

roscd
cd src
git clone https://github.com/mcgill-robotics/ros-teledyne-navigator.git teledyne_navigator

Dependencies

Before proceeding, make sure to install all the dependencies by running:

rosdep update
rosdep install teledyne_navigator

Compiling

You must compile this package before being able to run it. You can do so by running:

catkin_make

from the root of your workspace.

Running

To run, simply connect the DVL over RS232 and launch the package with:

roslaunch teledyne_navigator teledyne_navigator.launch port:=</path/to/dvl>

The following run-time ROS launch arguments are available:

• port: Serial port to read from, default: /dev/dvl.
• baudrate: Serial baud rate, default: 9600.
• timeout: Serial read timeout in seconds, default: 1.0.
• frame: tf frame to stamp the messages with, default: dvl.

The package will keep trying to connect to the DVL until it is successful.

The teledyne_navigator node will output to the following ROS topic:

• ~ensemble: DVL scan data as an Ensemble message.

Limitations

This driver is limited to the PD5 output format and the earth-coordinate frame (ENU). You may change other parameters as you please using TRDI Toolz and save them with CK, but the PD and EX commands will be overridden.

Contributing

Contributions are welcome. Simply open an issue or pull request on the matter, and it will be accepted as long as it does not complicate the code base too much.

As for style guides, we follow the ROS Python Style Guide for ROS-specifics and the Google Python Style Guide for everything else.

Linting

We use YAPF for all Python formatting needs. You can auto-format your changes with the following command:

yapf --recursive --in-place --parallel .

We also use catkin_lint for all catkin specifics. You can lint your changes as follows:

catkin lint --explain -W2 .

License

See LICENSE.