zjk/AUV_150
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150 auv 软件结构

150 auv 适配接口

发布变量

根据pNodeReporter模块订阅的变量，需要发布的变量如下

NAV_X: The ownship vehicle position on the x axis of local coordinates. NAV_Y: The ownship vehicle position on the y axis of local coordinates. NAV_LAT: The ownship vehicle position on the y axis of global coordinates. NAV_LONG: The ownship vehicle position on the x axis of global coordinates. NAV_HEADING: The ownship vehicle heading in degrees. NAV_YAW: The ownship vehicle yaw in radians. NAV_SPEED: The ownship vehicle speed in meters per second. NAV_DEPTH: The ownship vehicle depth in meters.