Transition blue_localization to marine_localization and independent drivers

[evan-palmer]

Feature Type

Adding new functionality to the BlueROV2 driver

Problem Description

This is a book-keeping issue to track the transition of the blue_localization package to marine_localization and to independent drivers for the respective localization sources.

Feature Description

The following changes will take place in the scope of this issue:

• Convert dependency on the ArduSub EKF to either robot_localization (which is unfortunately no longer supported by ROS despite it being a pretty nice package) or to Fuse which is now the official localization framework for ROS but has less support for features that underwater vehicles might use
• Export Qualisys source to its own driver (or find an alternative driver)
• Export BlueROV2 camera interface to its own driver
• Export the A50 DVL implementation to its own driver
• Document the supported drivers
• Add a demo showing how to perform localization with the updated system
• (optional) Implement publishers for some common sensors as ros2_control sensors. This would be similar to the imu_sensor_broadcaster and force_torque_sensor_broadcaster and should use APL's marine_msgs package.

Alternative Solutions

n/a

Additional Context

No response

[evan-palmer]

@amarburg Here is the issue that I have been tracking the localization things that we discussed offline in (specifically task 1)

[evan-palmer]

Adding this here so that I don't forget in the future:

APL has a nice driver for the Oculus sonar here. It would be good to integrate support for that and document it.

[evan-palmer]

Regarding the motion capture systems, there has been quite a bit of work in the MOCAP4ROS2 organization that can be used and documented

[evan-palmer]

Here is a ROS 2 driver (supports Foxy) for the Ping 360 sonar

[amarburg]

APL has a nice driver for the Oculus sonar here. It would be good to integrate support for that and document it.

I think Rakesh was working on a ROS2 version of the Oculus driver this summer (?)

[evan-palmer]

I'm currently testing our new Water Linked DVL driver here. Once that is finished, I'll add a section to the docs to list supported drivers.

[evan-palmer]

Tracking Fuse support for 3D motion models here

[evan-palmer]

Once #292 is merged, I'll open a new PR that deprecates the Qualisys driver.