MVP Acomms

This repo contains utilites for acoustic modem data processing for mvp framework.

• Specific acoustic modem hardware drivers are stored in the external folder as submodles.
• mvp_acomm_intefaces is created just for compiling test.
• all modem customized msgs should go to the hardware driver repo.

Nodes in mvp_acomm_utilities

Acomm_geopoint_node

• Subscribed topics

  • A GeoPoseStamped Topic where the localization or GPS is referenced to
  • A UsblData Topic where raw USBL data is included

• Publish topics

  • GeoposeStamped of the USBL
  • GeoPointStamped of the modem

• Broadcasted TF

  • Publish a ENU frame (and a TF) attached to the reference GeoPoseStamped
  • Publish a TF between USBL and Modem.

MVP_Acomms_Node

• Subscribed topic
  • Modem Rx
  • Odometry
  • Power