Benchmarking

[rakeshv24]

🔧 Underwater Sonar Inspection Demo Checklist

Setup

• Prepare the environment with either:
  • A blowout preventer model
  • A turbine lander model
• Attach imaging sonar to the BlueROV2 including the visuals for the sensor.
• Ensure the sonar is in a forward-looking mount.
• Spawn the ROV near the inspection structure.

Operation

• Implement teleoperation controls for the ROV.
• Perform a sonar inspection of the structure.
• Record the volumetric reconstruction score.

Documentation

• Write instructions for the demo, including:
  • How to launch the environment
  • How to operate the ROV
  • How to interpret results

[hmoyen]

Currently working on Benchmarking in the branch: sonar-demo.

• Added sonar visual to robot model
• Edited sonar world to add shipwreck

To run the demo (following the ROS 2 Wiki

ros2 launch dave_demos dave_robot.launch.py z:=-12 x:=5 namespace:=bluerov2_heavy world_name:=dave_ocean_waves_sonar paused:=false

Other demo world:

ros2 launch dave_demos dave_sensor.launch.py namespace:=blueview_p900 world_name:=dave_ocean_waves_sonar_integrated paused:=false x:=22.5 y:=-4 z:=-15 pitch:=0.2 yaw:=3.14

[woensug-choi]

@rakeshv24 When you mentioned, a blowout preventer model and a turbine lander model, did you have available models to include?

[rakeshv24]

@woensug-choi Yes, that is correct. I have available models that I was planning to include.