Sonar Models
We are pulling together several Sonar models:
Currently this is embedded to run from the base uuv_simulator reference, uuv_simulator_reference.
Run with:
roslaunch uuv_dave uuv_dave.launch
Example view:
A FLS model stand-alone launcher is also available, fls_model_standalone. Run with:
roslaunch fls_gazebo blueview_standalone.launch
and start the image viewer with:
rqt_image_view
and subscribe to /depth/image_depth_sonar.
Example view:
A configuration containing a basement tank and a cylinder target is available. Run with:
roslaunch fls_gazebo blueview_basement_cylinder.launch
Gazebo view:
Sonar view:
Cloud view:
A GTRI-based sonar model is available in gtri_based_sonar_gazebo which was installed as described in Install Directly on Host. Run with:
roslaunch gtri_based_fls blueview_basement_cylinder.launch
Sonar view:
Cloud view
