DvlSensor

Doppler Velocity Log (DVL) devices estimates the velocity of the vehicle where it is attached. The output of this sensor can bu published using a DVLSensorToROS ROS interface.

XML syntax

In order to add a DVL device to the scene we just need name and relativeTo information.

• name: This parameters sets the camera name that will identify it.
• relativeTo: The name of the vehicle's link where the camera is attached.
• position: Initial position of the camera with respect to the vehicle's link.
• orientation: Initial rotation of the camera with respect to the vehicle's link, stated in RPY.
• std: Standard deviation of the gaussian noise added to the device.