DVL Water Tracking

Demonstration of DVL Water Tracking

Prerequisites

• The Ocean Current tutorial discusses the model used for specifying the ocean current velocity.

Setup

Launch simulation

roslaunch nps_uw_sensors_gazebo whoi_teledyne_whn.launch

Initially the water current is zero.

The DVL publishes the following topics:

• The Dvl.msg for bottom track information.
• The Adcp.msg for water track information.

Select the model whoi_teledyne_wn in the Gazebo gui, right-click and follow.

A simple, but incomplete, verification test

After launching the simulation, hold the ROV and DVL static by killing the motion node