I'm in the process of trying to integrate DAVE's Multibeam sensor with VRX so I'm opening this issue to share my approach and report on my progress.
My goal is to be minimally invasive to both VRX and DAVE while minimizing the copying of code or configurations keep things maintainable. My approach is to create an external package that depends on both VRX and DAVE so interdependencies are not introduced directly between VRX and DAVE.
So far, the small changes needed in VRX is the allowance of external sensors when configuring the WAMV with a multibeam sensor. I'll open an issue for this and submit a PR with my proposed solution.
I also needed to add a bathymetry layer to the Sydney regatta world. As a quick test, I just pick a seafloor that was already present in fuel.
The results I have so far are promising, but I still have a bug where it seems the sonar sensor is not rotating away from it's forward looking default.
I did have to fix some bugs in the Multibeam sensor for it to work in this setup and I'll submit the appropriate PRs to DAVE's repo.
I'll share a link to the package I put together once I've pushed it to a public repo.
I'm in the process of trying to integrate DAVE's Multibeam sensor with VRX so I'm opening this issue to share my approach and report on my progress.
My goal is to be minimally invasive to both VRX and DAVE while minimizing the copying of code or configurations keep things maintainable. My approach is to create an external package that depends on both VRX and DAVE so interdependencies are not introduced directly between VRX and DAVE.
So far, the small changes needed in VRX is the allowance of external sensors when configuring the WAMV with a multibeam sensor. I'll open an issue for this and submit a PR with my proposed solution.
I also needed to add a bathymetry layer to the Sydney regatta world. As a quick test, I just pick a seafloor that was already present in fuel.
The results I have so far are promising, but I still have a bug where it seems the sonar sensor is not rotating away from it's forward looking default.
I did have to fix some bugs in the Multibeam sensor for it to work in this setup and I'll submit the appropriate PRs to DAVE's repo.
I'll share a link to the package I put together once I've pushed it to a public repo.