release1

Release 1.0

Overview

Release 1.0 is the first beta release of project dave and is intended to both demonstrate the current status of the project and solicity feedback, discussiona and contributions. As part of the release we are including a near-tearm roadmap which describes the development plan for the project. The community is encouraged to comment and contribute.

Below is a summary of the main contributions in the release.

Demonstrations and Tutorials

The Dave Wiki contains a collections of demonstrations and tutorials to illustrate the current functionality.

Visual and Physical Models

• New instrument models for common sonar, lidar and DVL sensors.
• Visual model of new electric ROV.

Sensor Plugins

• A new forward-looping/multibeam sonar plugin that includes the effects of beam pattern and parameterized sonar equations.
• Incremental improvments to the existing WHOI DVL plugin.

Manipulation

• Demonstration of concurrent vehicle and manipulator control.
• Prototype of joint-based force feedback to support manipulation tasks.