Add DVL specific messages #317
Conversation
Signed-off-by: Michel Hidalgo <[email protected]>
hidmic
added
🌱 garden
Codecov Report
@@ Coverage Diff @@
## gz-msgs9 #317 +/- ##
=========================================
Coverage 95.41% 95.41%
=========================================
Files 10 10
Lines 1026 1026
=========================================
Hits 979 979
Misses 47 47 Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here. |
| { | ||
| enum ReferenceType | ||
| { | ||
| DVL_REFERENCE_UNSPECIFIED = 0; |
There was a problem hiding this comment.
Could you document each element of the enum?
proto/gz/msgs/dvl_beam_state.proto
Outdated
| /// \brief Measured background noise spectral density. | ||
| double nsd = 5; | ||
|
|
||
| /// \brief Whether beam is locked or not. |
There was a problem hiding this comment.
Maybe this is obvious if you're familiar with DVLs but I don't have a good intuition about what does it mean "locked" in this context. It's OK to also include a link to some reference.
| DVLRangeEstimate range = 3; | ||
|
|
||
| /// \brief Target position estimate. | ||
| DVLKinematicEstimate position = 2; |
There was a problem hiding this comment.
Any reason for placing the position = 2 after range = 3?
There was a problem hiding this comment.
No reason. Fixed in d27b90f.
| /// \brief Type of target used for tracking. | ||
| TargetType type = 1; | ||
|
|
||
| /// \brief Target range (or distance). |
There was a problem hiding this comment.
I'd recommend to mention the units here and in the position fields
There was a problem hiding this comment.
Are there units other than SI units? :) Done in d27b90f.
| DVLTrackingTarget target = 3; | ||
|
|
||
| /// \brief Estimated velocity. | ||
| DVLKinematicEstimate velocity = 4; |
There was a problem hiding this comment.
What is the difference between this velocity field and the velocity of each beam?
There was a problem hiding this comment.
Added clarification in d27b90f.
| double rssi = 4; | ||
|
|
||
| /// \brief Measured background noise spectral density. | ||
| double nsd = 5; |
There was a problem hiding this comment.
Not familiar with this term, does it have units?
There was a problem hiding this comment.
Added units in d27b90f. Noise power spectral density characterize how much noise power is there per unit bandwidth.
Signed-off-by: Michel Hidalgo <[email protected]>
|
Alright, going in! |
|
@nkoenig would it be possible to roll out a |
I can help with the release. |
🎉 New feature
Summary
This patch brings a number of DVL specific messages, necessary for DVL sensor interfaces.
Test it
TBD
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.