Acoustics Service

[ChuChuCodes0414]

Motivation

As a developer, I want to:

Use the acoustics hydrophones to detect the pingers underwater, and send out the various data gathered onto ROS topics.

So that I can:

Use IVC to tell Crush this important information to determine the task order.

Completion criteria

Minimum Viable Product (MVP)

1. Topic that tells whether or not Logic/acoustics is ready.
2. Topic that tells whether or not the pinger is closer
3. Topic that tells the direction of the pinger.
4. Service call the supports the gathering of data.

Stretch

1. Computed distance to the pinger
2. Integration with IVC in task planning (can be separate issue TBD)

Timeline

1. Mid to late March

Testing requirements

1. Put robot and pinger into water.
2. Call ros service and observe data published onto the relevant topics.

Implementation

High-level overview

1. Needs a new package.
2. Needs new ROS service defined in topic to make a call to existing acoustics code.
3. Dump acoustic repo code into ROS package, and edit high level code to pass up data we need.
4. Publish data to topics.

Checklist

TBD

Additional notes

N/A