This package provides status information from WHOI's Mesobot to the Project11 framework. It was developed using the sonardyne_usbl package to provide positioning and acoustic communications.
The mesobot_node.py script listens for position and status updates from USBL messages and publishes Project11 Heartbeat messages as well as positions updated with depth and heading.
Mesobot sends updates that include depth and heading using acoustic SMS messages. The node listens for these messages over the sms topic expecting messages of the type sonardyne_msgs/SMS. A Heartbeat messages is constructed from the components of the status message and published on the project11/heartbeat topic.
The node listens for geographic_msgs/GeoPointStamped messages over the position topic as well as the backup_position topic. The positions are augmented with heading and accurate depth information if such has been recieved from Mesobot within 5 minutes and replublished as geographic_msgs/GeoPoseStamped to the nav/position topic. Positions from the backup_position topic gets replublished if a position hasn't been recieved within 30 seconds from the position topic.