Nortek DVL1000 ROS Interface Layer

ROS Interface layer for Nortek DVL1000 by your friends at ARVP from University of Alberta

Connects to DVL over Ethernet (port:9004) and publishes DVL data + status. Velocities are output in m/s (or NaN if invalid). Custom messages are used for both publishers.

Launching the node: roslaunch nortek_dvl dvl.launch

Parameters

• address IP address / host name of DVL
• port port number for TCP connection
• dvl_topic dvl data pub topic name
• dvl_status_topic dvl status pub topic namei
• dvl_rotation rotate dvl data if the DVL coods do not match the robot coods (in radians)

please note that both publishers are in the nodes private namespace

DVL configuation

check the DVLConfig.txt file for our DVL configuration.