DVL Drivers

If you are looking for how to set it up, please look here. Everything in this document is found within the dvl_data package. For more helpful information on the DVL, please refer to the waterlinked documentation

DVL_subpub

This node, as noted, essentially subscribes to the DVL through a TCP connection, makes use of the dvl_tcp_parser file and organizes the data to be published to the pose topic.

There is a convert_to_pose function that converts the string data obtained from the DVL into the appropriate pose topic, making use of the euler_to_quaternion function. It checks to see if the DVL is connected, and if so, reads the dead reckoning data.

dvl_tcp_parser

Ripped partially from waterlink's github, this file does most of the heavy lifting for the parsing and collecting of the data. DVL_Subpub makes use of the datareader class directly, which has several methods to aid in data collection.

connect_dvl

Connects the DVL with the specified baud rate of 16171, and returns a connection status.

read_data

Reads the data from the specified command from the DVL. This formats the data such that it can be created into a pose topic for the subpub file.