ROS driver for Nortek DVL 1Mhz and pressure 300m

This version tested in nVidia Jetson TX2 Ubuntu 18.04 with ROS melodic

Licence: MIT License

Installation

• Install dependencies
  • Install ros serial, please check here for more information. For ubuntu 18.04/ROS melodic, just using command below

    $ sudo apt-get install ros-melodic-serial 
    
    

  • Install ros message package for DVL:

      $ cd ~/your_path_catkin_ws/src
      $ git clone https://github.com/URIsoslab/soslab_msgs
      $ catkin_make --pkg soslab_msgs

• Install DVL driver

  $ cd ~/your_path_catkin_ws/src
  $ git clone https://github.com/URIsoslab/nortek_dvl.git
  

Build

$ cd ~/your_path_catkin_ws/
$ catkin_make --pkg nortek_dvl

Usage

• Fix USB permission:

  $ ls -l /dev/ttyUSB* # check your permissions
  $ id -Gn {usrname} # replace {usrname} with your usrname, check if "dialout" is there
  $ sudo usermod -a G dialout {usrname} # add dialout in your username

• Launch

  $ roslaunch nortek_dvl star_dvl.launch

• Change usb port:

  • go to /nortek_dvl/launch/star_dvl.launch
  • change "port_name" as you find the DVL

• Close the DVL:

  • Please wait for the DVL driver is fully shutdown, otherwise you will need to use another USB port, like /ttyUSB1.
  • using ctrl+c, not ctrl+z

Current setup:

• Accoring to the setup, DVL is sending button_track msg (/nortek_dvl/dvl) and current_profile msg (/nortek_dvl/current_profile) as follow stream.

  button_track <---1s---> button_track <---1s---> button_track <---1s---> button_track <---1s---> current_profile

• So the /nortek_dvl/dvl is 0.8 hz /nortek_dvl/current_profile is 0.2 hz from rostopic hz ...