bluerov-kalmanfilter

" This repository is created for underwater robotics navigation of BlueROV2,

which reads the sensor values from DVL(Doppler Velocity Logs) and derive the position of robot via Kalman Filter. "

We subscribe DVL sensor values and publish the robot navigation value in a ROS message type nav_msgs/Odometry.msg

---

I. Introduction to Navigation

https://www.nortekgroup.com/knowledge-center/wiki/new-to-subsea-navigation

II. Introduction to Kalman Filter

1. Theoretical understandings of Kalman Filter

   • https://www.kalmanfilter.net/default.aspx

2. Python implementation on Kalman Filter

   • https://filterpy.readthedocs.io/en/latest/kalman/KalmanFilter.html

III. How to install ROS Noetic

You can take a look at below ROS Wiki page to follow instructions to ROS Noetic installation

http://wiki.ros.org/noetic/Installation/Ubuntu

IV. How to create ROS Workspace and Package

1. Create a ROS workspace

   $ mkdir -p ~/catkin_ws/src
   $ cd ~/catkin_ws/
   $ catkin_make
   $ source devel/setup.bash
   

2. Get into your ROS workspace

   $ cd ~/catkin_ws/src
   

3. Copy a ROS Package

   $ git clone https://github.com/ldw200012/bluerov2_kalmanfilter.git
   

4. Run below commands to configure your ROS Package

   $ cd ~/catkin_ws
   $ catkin_make
   $ source devel/setup.bash (This command must be run on every shell you are using for ROS from now on)
   

---

About the Project

Module Name: CA-RIS-801 | Marine Robotics (Spring 2021), Jacobs University Bremen (JUB)

Instructors: Dr. Evelina Dineva | Prof. Dr. Francesco Maurelli

Contributors: Dongwook Lee ([email protected]) | Katrin von Seggern ([email protected])