This node takes in georeferences usbl position fix and converts it to position updates of the filter. It can be deployed in two ways:
* Scenario 1: Inverted-USBL In this scenario, the underwater vehicle localizes itself with respect to an anchor, whose precise global position is known. The usbl onboard the vehicle receives the georeferenced position of the anchor and the usbl-fix. The vehicle uses these two information to estimate its position using simple geometry.
* Scenario 2: Tracking with USBL In this scenario, the anchor, whose precise global position is known, tracks underwater vehicles using USBL fixes. The anchor receives the usbl-fix of the underwater vehicle and uses its own position to estimate the position of the underwater vehicle.
Service to enable delay while using acoustic usbl sensors
Parameters
Parameters
type
Default
Purpose
/#vehicle#/node_frequency
float
10.0
Working frequency of the node
/#vehicle#/fix_type
bool
false
Type USBL fix to apply. Set false to put the vehicle acting as an anchor, estimating the other vehicles' position, or true to put the vehicle estimating its own position with respect to an anchor
