I just recently purchased a DVL A50, planning to integrate with ArduSub 4.5. I know there is already plenty of resource online, but all are catered towards BlueOS. I am using a Jetson Orin Nano (Ubuntu 20.04) with Pixhawk 6C. As far as I read online, the steps involved in the integration are:
Use Waterlinked GUI to install new drivers, calibrate sensor and set static IP to be on the same network as the Jetson
Test if everything works will in the GUI first (no integration with QGC yet)
Somehow forward the data from DVL in the form of VISION_POSITION_DELTA to the autopilot.
I found this repo BlueOS-Water-Linked-DVL which does that for BlueOS. However, if I am not using BlueOS, how can I use this repo (or other methods) to integrate DVL with ArduSub?
Hi @Luc001 -
Using BlueOS is expected for use of the DVL A50, but you may be able to make it work by running the software in that extension. It is receiving the DVL messages over ethernet and forwarding them in the correct format to the autopilot process - you would direct this to the comm port your Pixhawk is using.
Is there a reason you’re avoiding BlueOS? It is possible to use BlueOS alongside ROS…
Hi @tony-white
We are already using the Jetson Orin board for other complex autonomous code, so we do not desire having another RPi board just to install and run BlueOS. If only BlueOS is a library that we can install plug-and-play on other systems as well.
I assume the software extension that you mention is this BlueOS-Water-Linked-DVL. I will experiment with tweeking this repo to make it work.