OpenWater-HoveringSonar
This scenario starts with a HoveringAUV near a submarine. This is identical to the base version, only with a sonar mounted. Octree leaf size is 2cm. Unless otherwise specified, all sensors are named the same as their class name, ie IMUSensor is named “IMUSensor”.
auv0
: Main HoveringAUV agentIMUSensor
configured with noise, bias, and returns bias.GPSSensor
gets measurements with N(1, 0.25) of the surface, actual measurement also has noise.DVLSensor
configured with an elevation of 22.5 degrees, noise, and returns 4 range measurements.SonarSensor
configured with an elevation of 20 degrees, azimuth 130, range 1-70m, and initial octree generation of 100m.DepthSensor
configured with noise.PoseSensor
for ground truth.VelocitySensor
for ground truth.