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

1. Edit the launch file and comment out the apply_velocity node so that the ROV and sensor are stationary.
2. Restart the simulation
3. Plot the water velocities in beam coordinates rosrun rqt_plot rqt_plot /dvl/dvl_current/vel_bin_beams[0]/velocity_bin_beam[0]
4. Make a step change in water current velocity, e.g., rosservice call /hydrodynamics/set_current_velocity "velocity: 1.0"
5. Wait a few seconds, then change back to zero, rosservice call /hydrodynamics/set_current_velocity "velocity: 0.0"