Skip to content

dave

Role: Underwater simulation ecosystem (DAVE = "Dynamic Aquatic Vehicle Environment"). Vendored from the field-robotics-lab/dave upstream and provides protobuf↔ROS bridges plus a handful of Gazebo plugins we depend on.

Sub-packages used here

Sub-package What we use it for
dave_interfaces DVL message types (consumed by dvl_to_mavros.py).
dave_ros_gz_plugins Protobuf ↔ ROS bridges for sensor plugins.
dave_gz_* Underwater camera, sonar, environmental sensors. The UnderwaterCamera sensor is the most relevant for us.

Gotchas

UnderwaterCamera plugin caveats

If you switch the BlueROV2 to DAVE's UnderwaterCamera (alternative to the standard Gazebo RGB camera):

  • The plugin needs gz-sim-rgbd-camera-system loaded in the world SDF.
  • Output is BGR8, not RGB8. Consuming nodes must decode accordingly.
  • There is no CameraInfo topic. Pose-estimator code needs to be told the intrinsics another way.
  • dave_gz_sensor_plugins' install lib must be on GZ_SIM_SYSTEM_PLUGIN_PATH.
  • Requires protoc for plugin builds.
  • Gazebo-version-coupled (Harmonic in this workspace).

See also