We are pulling together several Sonar models:

UUV FLS

Currently this is embedded to run from the base uuv_simulator reference, uuv_simulator_reference.

Run with UUV

Run with:

roslaunch uuv_dave uuv_dave.launch

Example view:

images/example_sonar.png

Run stand-alone

A FLS model stand-alone launcher is also available, fls_model_standalone. Run with:

roslaunch fls_gazebo blueview_standalone.launch

and start the image viewer with:

rqt_image_view

and subscribe to /depth/image_depth_sonar.

Example view:

images/example_standalone_sonar.png

Run in Basement Tank environment

A configuration containing a basement tank and a cylinder target is available. Run with:

roslaunch fls_gazebo blueview_basement_cylinder.launch

Gazebo view:

images/basement_tank_cylinder.png

Sonar view:

images/basement_tank_cylinder_sonar.png

Cloud view:

images/basement_tank_cylinder_cloud.png

GTRI

A GTRI-based sonar model is available in gtri_based_sonar_gazebo which was installed as described in Install Directly on Host. Run with:

roslaunch gtri_based_fls blueview_basement_cylinder.launch

Sonar view:

images/gtri_based_fls_tank.png

Cloud view

images/gtri_based_fls_cloud.png