Introduction

This repository contains a ROS driver for Blueprint Subsea's Oculus series of multibeam sonars. It has been successfully tested with both the m750d and the m1200d models

Getting Started

Dependencies

Installation

Clone this repository into the src directory of your ROS workspace, and run catkin_make from its top directory:

cd src
git clone --recursive ssh://slb-swt@vs-ssh.visualstudio.com:22/SDR/_ssh/sonar_oculus
cd ..
catkin_make

Releases

While there are currently no releases, we plan to create a tag for every field experiment.

Usage

Use the sonar_oculus.launch launch file and its arguments to control which processes to run

Options

• static_sonar - starts a static_transform_publisher that publishes a static transform between the /sonar and /local_origin reference frames (default=false)

Parameters

• sonar_frame - the name of the sonar reference frame (default: /sonar)

Processses

• run_publisher - sonar publisher - finds and connects to a sonar on the network and starts publishing OculusPing messages (default=true)
• run_viewer - start the sonar viewer GUI (default=true)
• run_writer - start a process that subscribes to OculusPing messages and writes them to disk (under $HOME/.ros) as PNG files (default=false)
• run_ranger - start a process that extracts range measurements based on the strongest value above a threshold and publishes them as a sensor_msgs/LaserScan
• run_rqt - open a dynamic configuration window to set sonar parameter such as gain, range, and frequency (default=true)

Examples

Operating the sonar in an experiment:

roslaunch sonar_oculus sonar_oculus.launch 

Dumping all sonar pings to disk

roslauch sonar_oculus sonar_oculus.launch run_publisher:=false run_rqt:=false run_writer:=true
# rosbag play bagfile

Contribute

This repository follows the git flow branching model. Most development should take place either on the develop branch, or on dedicated feature/<name-of-feature> branches.