ROS1 node for the Blueprint Subsea Oculus sonar.
The oculus_ros node is merely a wrapper and depends on an external oculus_driver library which does most of the work. This library will be automatically downloaded during the colcon build process. If you don't have an internet connection available, see the instruction further below.
Go to your catkin workspace "src" folder:
cd <your catkin workspace>/src
Clone with repository.
git clone https://github.com/ENSTABretagneRobotics/oculus_ros.git
Build the oculus_sonar ROS node:
cd .. && catkin_make
Check you can start the node:
rosrun oculus_sonar oculus_sonar_node
All set !
If you don't have an internet connection available on the system on which you want to use this node, your have to install the oculus_driver library beforehand.
Clone or copy the oculus_driver library :
git clone https://github.com/ENSTABretagneRobotics/oculus_driver.git
This library follows a standard CMake compilation procedure. cd into the repo and create a build directory :
cd oculus_driver && mkdir build && cd build
Generate your build system with CMake, compile and install :
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=<your install location> ..
make -j4 install
Make sure the CMAKE_PREFIX_PATH environment variable contains your install location :
echo $CMAKE_PREFIX_PATH
If not, put this at the end your $HOME/.bashrc file:
export CMAKE_PREFIX_PATH=<your install location>:$CMAKE_PREFIX_PATH
Now follow the oculus_ros node installation procedure normally. If the oculus_driver is properly installed at a location included in the CMAKE_PREFIX_PATH environment variable. The node should compile properly.
The Oculus sonar connects to the system through the network. The sonar itself has a fixed IP address which may or may not be indicated on the box. To avoid bricking of the sonar by "lack of post-it", the sonar makes himself known on the network by broadcasting its own IP address. The IP address is therefore always retrievable, regardless of your system network configuration.
The oculus_sonar library should always detect the IP of a plugged in Oculus sonar and will print it to stdout. If you do not have access to stdout, a tool such as wireshark will display the packets broadcasted by the sonar along with its IP address. The ROS node also publish the sonar configuration in the topic "/oculus_sonar/status", although it might not be in a user readable format (encoded in a uint32_t, for now).
You should make sure your own system configuration match the configuration of the sonar (i.e. your system and the sonar must be on the same subnet). If you are unable to change your own configuration, the IP of the sonar can be changed with the help of the Oculus ViewPoint software (made for Windows, but works with wine on Ubuntu).
Always make sure the sonar is underwater before powering it !
In normal operation the sonar will continuously send ping. Various ping parameters can be changed (ping signal frequency, ping rate...). The sonar will retain its current configuration between power cycles. This makes very important to not power up the sonar before putting it underwater. It may send pings even if the ROS node is not launched (it should not break right away but will heat up very fast).
If the ROS node is launched, it will stop the ping emission if there are no subscribers on the /oculus_sonar/ping topic.
The ping parameters can be changed using the rqt_reconfigure graphical tool.
rosrun rqt_reconfigure rqt_reconfigure
The sonar might take a lot of time to acknowledge a parameter change (especially parameters related to sound velocity and salinity).
Most of the issue you might will encounter are related to network setup.
Check the Network configuration section.
For other problems, feel free to contact the maintainer at pierre.narvor@ensta-bretagne.fr.