Contains files and models describing the underwater vehicle and the sensors attached to it. Currently, vec6 underwater vehicle has been described in this package.
vec6 is a 6 six thrustered underwater vehicle designed by the AUV Society. It has the following sensors in both simulation and real world:
- IMU
- Front facing monocular RGB camera
- Down facing monocular RGB camera (only in simulation)
- Depth sensor
| Namespace | Description |
|---|---|
/vec6 |
Top level namespace containing all the topics related to sensor and control data to needed by vec6 to complete it's tasks. |
/vec6/sim_ground_truth |
Topic to which the ground truth values of the simulated vec6_base_link are published. |
/vec6/sim_depth |
Topic to which simulated depth sensor values are published. |
/vec6/sim_imu |
Topic to which simulated IMU values are published. |