From ee230d2931551895bd7d388a0ce16bdf68b956dd Mon Sep 17 00:00:00 2001
From: Narcis Palomeras <narcispr@gmail.com>
Date: Thu, 18 Oct 2018 12:13:29 +0200
Subject: [PATCH] Add DVL and DVLBeam messages issue #116

---
 sensor_msgs/CMakeLists.txt  |  2 ++
 sensor_msgs/msg/DVL.msg     | 33 +++++++++++++++++++++++++++++++++
 sensor_msgs/msg/DVLBeam.msg | 17 +++++++++++++++++
 3 files changed, 52 insertions(+)
 create mode 100644 sensor_msgs/msg/DVL.msg
 create mode 100644 sensor_msgs/msg/DVLBeam.msg

diff --git a/sensor_msgs/CMakeLists.txt b/sensor_msgs/CMakeLists.txt
index 17913ce5..5542de88 100644
--- a/sensor_msgs/CMakeLists.txt
+++ b/sensor_msgs/CMakeLists.txt
@@ -15,6 +15,8 @@ add_message_files(
   CameraInfo.msg
   ChannelFloat32.msg
   CompressedImage.msg
+  DVL.msg
+  DVLBeam.msg
   FluidPressure.msg
   Illuminance.msg
   Image.msg
diff --git a/sensor_msgs/msg/DVL.msg b/sensor_msgs/msg/DVL.msg
new file mode 100644
index 00000000..c30d0c55
--- /dev/null
+++ b/sensor_msgs/msg/DVL.msg
@@ -0,0 +1,33 @@
+# Based on UUV Simulator:
+#   https://github.com/uuvsimulator/uuv_simulator
+
+# This is a message to hold data from a DVL sensor (Doppler Velocity Log).
+#
+# Distances are in [m], velocities in [m/s]
+#
+# If the covariance is known, it should be filled.
+# If it is unknown, it should be set to all zeros.
+# If a measurement was invalid, its covariance should be set to -1 so it can be
+# disregarded.
+
+Header header
+
+# Measured velocity [m/s] in sensor frame
+geometry_msgs/Vector3 velocity
+
+# Row major, xyz axes
+float64[9] velocity_covariance
+
+# Bottom range
+float64 range
+
+# Instrument reference data
+uint8 VELOCITY_REFERENCE_UNKNOWN = 0
+uint8 VELOCITY_REFERENCE_WATER = 1
+uint8 VELOCITY_REFERENCE_BOTTOM = 2
+
+uint8 velocity_reference
+
+# DVLBeams are optional. If they are set they contain individual ranges and 1D
+# doppler velocity estimates orthogonal to the ray.
+DVLBeam[] beams
\ No newline at end of file
diff --git a/sensor_msgs/msg/DVLBeam.msg b/sensor_msgs/msg/DVLBeam.msg
new file mode 100644
index 00000000..d7ea6667
--- /dev/null
+++ b/sensor_msgs/msg/DVLBeam.msg
@@ -0,0 +1,17 @@
+# Original from UUV Simulator:
+#   https://github.com/uuvsimulator/uuv_simulator
+
+string frame_id           # Beam frame (defined as a TF wrt DVL frame)
+
+float64 range             # measured range [m] or < 0 if invalid
+float64 range_covariance
+
+float64 velocity          # measured velocity [m/s] of corr. beam
+float64 velocity_covariance
+
+float32 field_of_view     # the size of the arc that the distance reading is
+                          # valid for [rad]
+                          # the object causing the range reading may have
+                          # been anywhere within -field_of_view/2 and
+                          # field_of_view/2 at the measured range.
+                          # 0 angle corresponds to the x-axis of the sensor.
\ No newline at end of file