USBLis used to assist underwater navigation and positioning. It consists of one transceiver and one or multiple transponders (or beacons). Usually, the transceiver will be attached to either a stationary object or mobile central node, whereas the transponder(s) is attached to objects that are being tracked.
The tutorial below describes how to generate this demo, but for convenience the world and launch files for the demo are included for demonstration and testing purposes.
Launch the tutorial:
ros2 launch dave_demos dave_world.launch.py world_name:=usbl_tutorial verbose:=true
In this tutorial, the box acts as transceiver, whereas the spheres act as transponders. The green sphere is the first transponder and the blue sphere is the second transponder.
To check the gazebo topics:
gz topic -l
It should return among other topics, the following:
/USBL/transceiver_manufacturer_1/global_position
/USBL/transceiver_manufacturer_2/global_position
To check ROS 2 topics:
ros2 topic list