Skip to content

Correction of marine_acoustics DVL message packing. #2

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
jbedwani wants to merge 1 commit into
base: master
Choose a base branch
from
Open

Correction of marine_acoustics DVL message packing. #2

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion include/dvl_a50/dvl_a50.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ class DvlA50
int speed_of_sound,
bool acoustic_enabled,
bool led_enabled,
int mountig_rotation_offset,
int mounting_rotation_offset,
std::string range_mode);

void set_speed_of_sound(int speed_of_sound);
Expand Down
13 changes: 9 additions & 4 deletions src/dvl_a50_ros2.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -246,14 +246,19 @@ class DvlA50Node : public rclcpp_lifecycle::LifecycleNode
velocity_report.beam_ranges_valid = true;
velocity_report.beam_velocities_valid = res["velocity_valid"];

velocity_report.num_good_beams = 0;
// Beam specific data
for (size_t beam = 0; beam < 4; beam++)
{
velocity_report.num_good_beams += bool(res["transducers"][beam]["beam_valid"]);
velocity_report.range = res["transducers"][beam]["distance"];
if (res["transducers"][beam]["beam_valid"])
{
velocity_report.num_good_beams++;
}

velocity_report.range[beam] = double(res["transducers"][beam]["distance"]);
//velocity_report.range_covar
velocity_report.beam_quality = res["transducers"][beam]["rssi"];
velocity_report.beam_velocity = res["transducers"][beam]["velocity"];
velocity_report.beam_quality[beam] = res["transducers"][beam]["rssi"];
velocity_report.beam_velocity[beam] = res["transducers"][beam]["velocity"];
//velocity_report.beam_velocity_covar
}

Expand Down