Merge miscellaneous tweaks (mostly doc improvements) made while assis…

…ting with DVL debugging (#1193)

* README.md: update documentation link (https://noetic.cbrxyz.com -> https://mil.ufl.edu/docs/)

* scripts/install.sh: fix abort if update-manager package isn't installed (e.g. in a schroot)

Fixes this error:

    $ scripts/install.sh
    [...]
    sed: can't read /etc/update-manager/release-upgrades: No such file or directory

* subjugator_msgs: remove VelocityMeasurement[s] messages duplicated from mil_msgs

* mil_msgs: document meaning of VelocityMeasurement[s] messages' fields

* odom_estimator: warn on non-unit VelocityMeasurement::direction vector

---------

Co-authored-by: Forrest Voight <[email protected]>

README.md

@@ -21,7 +21,7 @@ We heavily use the robotic middleware ROS for the past few years. We have around
 60 ROS packages currently in use on our robots, most of which can be found here.
 
 Furthermore, we attempt to provide extensive testing, documentation, and continuous
-integration for our software. We self-host our [documentation](https://noetic.cbrxyz.com)
+integration for our software. We self-host our [documentation](https://mil.ufl.edu/docs/)
 and use GitHub Actions as our CI provider.
 
 If you're interested in some of the software we've written, we'd love to talk to

SubjuGator/simulation/subjugator_simulation/subjugator_sim_tools/physics/vehicle.py

@@ -6,7 +6,8 @@
 from nav_msgs.msg import Odometry
 from sensor_msgs.msg import Imu
 from std_msgs.msg import String
-from subjugator_msgs.msg import Thrust, VelocityMeasurement, VelocityMeasurements
+from mil_msgs.msg import VelocityMeasurement, VelocityMeasurements
+from subjugator_msgs.msg import Thrust
 from subjugator_sim_tools.physics.physics import Entity
 from subjugator_simulation.srv import SimSetPose, SimSetPoseResponse
 

SubjuGator/utils/subjugator_msgs/CMakeLists.txt

@@ -19,8 +19,6 @@ add_message_files(
   ThrusterStatus.msg
   Waypoint.msg
   Trajectory.msg
-  VelocityMeasurement.msg
-  VelocityMeasurements.msg
   Path.msg
   PathPoint.msg
 )

mil_common/gnc/odom_estimator/src/nodelet.cpp

@@ -281,6 +281,10 @@ class NodeImpl
     for (unsigned int i = 0; i < msg.velocity_measurements.size(); i++)
     {
       mil_msgs::VelocityMeasurement const &vm = msg.velocity_measurements[i];
+      if (std::fabs(xyz2vec(vm.direction).norm() - 1) > 1e-3)
+      {
+        NODELET_ERROR("VelocityMeasurement::direction should always be a unit vector");
+      }
       if (!std::isnan(vm.velocity))
       {
         good.push_back(vm);

mil_common/utils/mil_msgs/msg/VelocityMeasurement.msg

@@ -1,3 +1,13 @@
+# Generic representation of measurement from one beam of a Doppler Velocity Log (DVL)-like sensor
+
+# unit vector pointing along beam (in sensor coordinate frame)
 geometry_msgs/Vector3 direction
+
+# measured velocity (in m/s) of sensor relative to pool floor, projected onto `direction` vector
+# * should be NaN if measurement is bad/invalid/unknown
 float64 velocity
+
+# correlation value
+# * describes the SNR of the return ping; currently only for diagnostic usage
+# * should be NaN if unknown
 float64 correlation

mil_common/utils/mil_msgs/msg/VelocityMeasurements.msg

@@ -1,2 +1,11 @@
+# Generic representation of one measurement report from a Doppler Velocity Log (DVL)-like sensor
+
+# stamp is the time the measurements were made
+# frame_id ...
+# * should have its origin at the location where the beam vectors intersect
+# * defines the coordinate frame of the `velocity_measurements.direction` vectors
 Header header
+
+# velocity_measurements should have one element for each beam the hardware supports (typically 4)
+# * invalid beams should still have VelocityMeasurement elements
 VelocityMeasurement[] velocity_measurements

scripts/install.sh

@@ -188,7 +188,9 @@ mil_system_install python3-pip python3-setuptools
 sudo apt reinstall -y python3-pip
 
 # Disable "automatic updates" Ubuntu prompt (thanks to https://askubuntu.com/a/610623!)
-sudo sed -i 's/Prompt=.*/Prompt=never/' /etc/update-manager/release-upgrades
+if which update-manager >/dev/null 2>&1; then
+	sudo sed -i 's/Prompt=.*/Prompt=never/' /etc/update-manager/release-upgrades
+fi
 
 # Install Python 3 dependencies
 sudo pip3 install -r requirements.txt