Nortek Nucleus API

nortek_dvl is a C++ library and ROS 2 driver designed to interface with the Nortek Nucleus. Get started with nortek_dvl by installing the project, exploring the implemented library examples, or by launching the ROS 2 driver.

⚠️ This project is not affiliated with or maintained by Nortek. Please refer to the Nortek GitHub Account for all official software.

Installation

To install nortek_dvl, first clone the repository to the src/ directory of your ROS 2 workspace

git clone git@github.com:Robotic-Decision-Making-Lab/nortek_dvl.git

Then install the project dependencies using vcstool and rosdep

vcs import src < src/nortek_dvl/ros2.repos && \
rosdep install --from paths src -y --ignore-src --skip-keys nlohmann_json

Finally, build the workspace using colcon

colcon build && source install/setup.bash

Usage

Prior to using nortek_dvl, first ensure that you can successfully connect to your respective device. For additional information, please refer to the Nortek operation documentation. After verifying the network connection, the DVL ROS 2 driver can be launched with the following command:

ros2 launch nucleus_driver dvl.launch.py

A sample configuration file can be found in nucleus_driver/config/dvl.yaml, and the full list of parameters can be found in nucleus_driver/src/nucleus_driver_parameters.yaml.

Getting help

If you have questions regarding usage of nortek_dvl or regarding contributing to this project, please ask a question on our Discussions board.

License

nortek_dvl is released under the MIT license.