ROS package, based on python, to read data from the Nortek DVL1000 and feed it to ROS

Install the websocket-client library for your python workspace. If you have pip installed use:

pip install websocket-client

Else:

1. Download the file from https://pypi.org/project/websocket-client/#files

2. Extract the files and navigate to the extracted folder

3. Use the following command:

   python setup.py install

Once the library is ready, download the master.py script

cd ~/catkin_ws/src
git clone -b master https://github.com/ghese/dvl1000_ros.git
cd ~/catkin_ws
catkin_make

Make sure you remebered to update the IP adress in the script, so that it points to the DVL. Run the script using:

#To run the publisher:
rosrun dvl1000_ros publisherDVL1000.os_em7180 py

#To run the listener:

rosrun dvl1000_ros subscriberDVL1000.py

The node publishes data to the following topics: "manta/dvl", "manta/Pressure" and "nav_msgs/Odometry"