https://github.com/sonia-auv/depth_port_manager
https://github.com/sonia-auv/depth_port_manager
active auv
Last synced: 3 months ago
JSON representation
- Host: GitHub
- URL: https://github.com/sonia-auv/depth_port_manager
- Owner: sonia-auv
- License: bsd-3-clause
- Created: 2024-05-16T14:54:24.000Z (almost 2 years ago)
- Default Branch: develop
- Last Pushed: 2026-01-16T19:59:18.000Z (3 months ago)
- Last Synced: 2026-01-17T07:30:24.260Z (3 months ago)
- Topics: active, auv
- Language: C++
- Homepage:
- Size: 65.4 KB
- Stars: 0
- Watchers: 5
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# depth_port_manager
The project enables a serial connection with the depth sensor **Impact Subsea ISD4000** for data transmission. The connection reads raw measurement data which is then parsed into depth, pressure, and temperature and then transmitted using **ROS2** communication to other systems on the network.
---
## Dependencies
### ROS 2 Distro
* Humble
### ROS 2 Packages
* `ament_cmake`
* `rclcpp`
* `std_msgs`
* `std_srvs`
### Sonia packages
* `sonia_common_cpp`
### External packages
* `Boost`
---
## Node
* Name: `depth_provider`
* Port Name: `/dev/DEPTH`
* Port type: serial
* Baud Rate: 115200
---
## Registered Topics / Services / Actions
| Type | Name | Direction | Message/Service Type | Description |
| -------------------------------- | ------------------------- | ----------------| ----------------------- | ------------------------------------------- |
| Topic | `/provider_depth/depth` | Published | `std_msgs/msg/Float32` | Measured depth data |
| Topic | `/provider_depth/press` | Published | `std_msgs/msg/Float32` | Measured pressure data |
| Topic | `/provider_depth/temp` | Published | `std_msgs/msg/Float32` | Measured temperature data |
| Service | `/provider_depth/tare` | Service Server | `std_srvs/srv/Trigger` | Resets the depth sensor to current position |
---
## Build Instructions
To build the project, the following commands should be run directly from your ROS2 workspace.
```bash
colcon build --packages-select depth_port_manager --symlink-install
source install/setup.bash
```
---
## Launch Instructions
### Environment variables
Required environment variables to launch the project
```bash
export AUV={prototype_identifier}
```
replace `{prototype_identifier}` with available options: `AUV8` | `LITE1`.
### Default launch
```bash
ros2 launch depth_port_manager launch.py
```
---
## Useful ROS 2 Commands
```bash
ros2 node list
ros2 node info /depth_port_manager
ros2 topic echo /provider_depth/depth
ros2 param list /depth_port_manager
```
---
## References
* [sonia_common_ros2](https://github.com/sonia-auv/sonia_common_ros2)
* [ImpactSubsea ISD4000](https://www.impactsubsea.co.uk/isd4000/)
* [ImpactSubsea ISD4000 manual](https://www.impactsubsea.co.uk/wp-content/uploads/2025/09/ISD4000-Manual-Rev-2.9.pdf)
---