Duncan Rigg_多机器人海洋探索.pdf

1、30 September 2020 Sonardyne International|Commercial in ConfidenceMulti-Robotic Ocean Exploration:Enabling multi-robot collaboration by integrating the Sonardyne Mini Ranger 2 system with the Robotic Operating SystemDuncan RiggSales Managerhttps:/ the robots and a ship Sonardyne International|Commer

2、cial in ConfidenceMini Ranger 2Ranger 2 software with robotics packHPT 3000MF(2034 kHz)4,000m tracking(with ER option)15mm ranging precisionPositioning repeatability:1.3%of slant range 1 Drms/0.9%1 Sigma(internal MRU)0.2%of slant range 1 Drms/0.14%1 Sigma (external MRU)Integrated MTi-30 Xsens MRUEth

3、ernet-based comms Sonardyne International Image courtesy of Larry Mayer,UNHBeacons for Positioning and Telemetry Simultaneous USBL navigation with two way SMS telemetry(AvTrak 6)High data rate(9kbps)acoustic modem 7000m depth operation Variant options include remote transducer,OEM and NanoROS Driver

4、 and message definitions Sonardyne International|Commercial in ConfidenceROS Sonardyne drivers(Developed by the University of New Hampshire)https:/ modem_node.py node provides topics for sending and receiving SMS messages using sonardyne_msgs/SMS messages and for sending and receiving raw modem comm

5、ands using std_msgs/String messages.Supports serial,TCP or UDP connections.ranger_nodeThe ranger_node.py node subscribes to asynchronous position updates from the Ranger software and publishes them as geographic_msgs/GeoPointStamped messages.Uses XML base UDP remote control protocol.ROS Message Defi

6、nitionshttps:/ headerstring UIDfloat32 agestring categorystring namefloat64 latitudefloat64 longitudefloat32 depthstring historySMS.msgtime receive_timestring addressstring messageOECI TECHNOLOGY CHALLENGE06-22 May 2022The Sonardyne ROS driver was a key component used with Projec