This is a ros node which parses MOOSDB variables streamed over UDP port into their equivalent ROS messages. This node is designed to run on a ROS-based sensor payload connected via the sequential coupling ethernet connection to the MOOS-based core bottle.
The following data types are transfered from MOOS -> ROS:
- MOOSDB Nav State (6D) -> ROS geometry_msgs/PoseStamped
- MOOSDB GPS XGPS/YGPS/HDOP -> ROS geometry_msgs/PoseWithCovarianceStamped
- Navigator AHRS data -> ROS sensor_msgs/Imu
- CV7 AHRS data -> ROS sensor_msgs/Imu
- Tracker650 DVL data -> ROS geometry_msgs/TwistStamped
- MOOSDB IN_WATER flag -> String
The following data types are transfered from ROS -> MOOS:
- ROS nav_est (a PWCS) -> MOOSDB NAVXEST, NAVYEST, NAVERREST
- ROS led_command (a string) -> pAftCtrl