Fix issue #691 #692
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Fix issue #691 #692
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Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
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M1chaelM
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Jun 30, 2023
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Fixes #691
This pull request updates the topics associated with the pinger functionality.
The beacon located in the water uses a topic to set its position. The default topic is now
/pinger/set_pinger_position.The acoustic sensor mounted on the WAM-V uses a topic to access the sensor data, that estimates distance to the pinger. The default topic is now
/wamv/sensors/acoustics/receiver/range_bearing.How to test it?
This PR has a implications in a few places: acoustic_perception task, acoustic_tracking task and also wamv_generation.
Acoustic perception task
Follow the instructions from #609
Important: In step (3), echo the topic
/wamv/sensors/acoustics/receiver/range_bearinginstead.Acoustic tracking task
Follow the instructions from #614
Important: Uncomment the block within lines 693-704 in
acoustic_tracking_task.sdfinstead.You can also echo the topic
/wamv/sensors/acoustics/receiver/range_bearing.WAM-V generation
Follow the instructions from https://github.com/osrf/vrx/wiki/custom_components_tutorial
You can also echo the pinger sensor:
I also fix an issue in the tutorial and updated the
example_component_config.yamlcontent from the tutorial.Important: Clear your workspace and recompile before generating the WAM-V.