ROS2 Driver for Blueprint Subsea Oculus M3000d Imaging Sonar
ROS2 Driver for Blueprint Subsea Oculus M3000d
Developer released a ROS2 driver for the Oculus M3000d sonar, based on ENSTA Bretagne's work. Driver includes C++ interface and addresses pingRate reconfiguration issues.
Source: ROS Discourse — Community updates · Read original article ↗
Article text · Original source · English
Hi everyone!
I recently open-sourced the ROS2 driver that I’m using for my M3000d. You can find it here:
Repository AlePuglisi/oculus-m3000d-ros2-cpp-driver
GitHub - AlePuglisi/oculus-m3000d-ros2-cpp-driver: Driver for the Blueprint Subsea Oculus M3000d...
Driver for the Blueprint Subsea Oculus M3000d Imaging Sonar. ROS2 Jazzy interface and Low Level C++ Sensor Driver.
I worked on this last year by extending ENSTA Bretagne’s oculus_ros2, which didn’t include support for the M3000d.
I have been busy with other tasks, and I recently started maintaining it again and fixing some bugs.
I saw that the most-supported driver for the Oculus sonar, liboculus, has a discussion about the M3000d and should support this sonar. I haven’t tested it, to be honest.
This driver is specifically updated for the M3000d, as I didn’t notice before that the libocolus driver fully supported the M3000d…
The only problem I’m currently encountering is the pingRate reconfiguration, which is clamped to 9 Hz even if I request 15 or 40 Hz… I haven’t investigated it yet extensively.
Let me know if it is useful for the community!
I’m also working on a lightweight, easy-to-modify C++ interface that substitutes the proprietary ViewPoint. This is to use the raw acoustic images in custom code (e.g., with OpenCV pipelines).
P.S. I also wrote very dummy documentation, as at that time it was my first time working with low-level sensor drivers and Ethernet sensors…
Source：ROS Discourse — Community updates · discourse.openrobotics.org