Package: Provider DVL

Global Architecture

Configurations

Topics ROS

`/provider_dvl/pd0_packet`

The `pd0_packet topics contains all the informations of the DVL. It is being sent from the DVL at every signals.

The specifications of the PD0 packets can be found on the Teledyne Documentation (c.f. Github). It is composed of the other messages of the DVL and does not contain any raw data. The specifications for all the other messages can also be found on the documentation.

# sonia_msgs/PD0Packet
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
sonia_msgs/DeviceInfo device_info
  std_msgs/Header header
    uint32 seq
    time stamp
    string frame_id
  uint8 fw_version
  uint8 fw_revision
  uint64 cpu_board_serno
  uint16 system_configuration
  uint8 beam_count
  sonia_msgs/Sensors available_sensors
    std_msgs/Header header
      uint32 seq
      time stamp
      string frame_id
    bool calculates_speed_of_sound
    bool depth
    bool yaw
    bool pitch
    bool roll
    bool salinity
    bool temperature
sonia_msgs/AcquisitionConfiguration acquisition_conf
  ...
sonia_msgs/OutputConfiguration output_conf
  ...
sonia_msgs/Status status
  ...
sonia_msgs/CellReadings cell_readings
  ...
sonia_msgs/BottomTrackingConfiguration bottom_tracking_conf
  ...
sonia_msgs/BottomTracking bottom_tracking
  ...

Note

As the message AcquisitionConfigure to BottomTracking are also provided on other topics described below, you will be able to see the description for each one through their specific section.

`/provider_dvl/acquisition_conf`

???

# sonia_msgs/AcquisitionConfiguration
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
sonia_msgs/Sensors used_sensors
  std_msgs/Header header
    uint32 seq
    time stamp
    string frame_id
  bool calculates_speed_of_sound
  bool depth
  bool yaw
  bool pitch
  bool roll
  bool salinity
  bool temperature
uint8 lag_duration
uint8 cell_count
uint8 profiling_mode
uint8 low_correlation_threshold
uint8 code_repetition_count
uint16 pings_per_ensemble
float32 cell_length
float32 blank_after_transmit_distance
float32 water_layer_min_ping_threshold
float32 water_layer_velocity_threshold
uint64 time_between_ping_groups
float32 yaw_alignment
float32 yaw_bias
float32 first_cell_distance
float32 transmit_pulse_length
uint8 water_layer_start
uint8 water_layer_end
uint8 false_target_threshold
bool low_latency_trigger
float32 transmit_lag_distance
bool narrow_bandwidth_mode
uint8 base_frequency_index

`/provider_dvl/output_conf`

???

# sonia_msgs/OutputConfiguration
uint8 BEAM=0
uint8 INSTRUMENT=1
uint8 SHIP=2
uint8 EARTH=3
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
uint8 coordinate_system
bool use_attitude
bool use_3beam_solution
bool use_bin_mapping

`/provider_dvl/status`

???

# sonia_msgs/Status
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
uint32 seq
uint64 time
geometry_msgs/Quaternion orientation
  float64 x
  float64 y
  float64 z
  float64 w
geometry_msgs/Vector3 stddev_orientation
  float64 x
  float64 y
  float64 z
float32 depth
float32 speed_of_sound
float32 salinity
float32 temperature
float32 pressure
float32 pressure_variance
uint8[8] adc_channels
uint64 min_preping_wait
uint16 self_test_result
uint32 status_word

`/provider_dvl/cell_readings`

???

# sonia_msgs/CellReadings
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
uint64 time
sonia_msgs/CellReading[] readings
  std_msgs/Header header
    uint32 seq
    time stamp
    string frame_id
  float32[4] velocity
  float32[4] correlation
  float32[4] intensity
  float32[4] quality

`/provider_dvl/bottom_tracking_conf`

???

# sonia_msgs/BottomTrackingConfiguration
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
uint16 ping_per_ensemble
uint16 delay_before_reacquiring
float32 correlation_threshold
float32 evaluation_threshold
float32 good_ping_threshold
uint8 mode
float32 max_velocity_error
float32 max_tracking_depth
uint8 gain

`/provider_dvl/bottom_tracking`

???

# sonia_msgs/BottomTracking
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
float64 time
float64[4] range
float64[4] velocity
float64[4] correlation
float64[4] evaluation
float64[4] good_ping_ratio
float64[4] rssi

`/provider_dvl/twist`

???

# geometry_msgs/TwistWithCovarianceStamped
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
geometry_msgs/TwistWithCovariance twist
  geometry_msgs/Twist twist
    geometry_msgs/Vector3 linear
      float64 x
      float64 y
      float64 z
    geometry_msgs/Vector3 angular
      float64 x
      float64 y
      float64 z
  float64[36] covariance