ROS Message Transport over Underwater Acoustic Links with ros_acomms

A software framework, “ros_acomms,” has been developed to enable transport of ROS messages and other data across low-throughput and high-latency underwater acoustic links. Messages are efficiently marshalled using user-provided configuration data, if available, or automatically via message introspection. A modular set of modem drivers, media-access-control engines, and message queues transport messages from one system to another via a modem. It supports message fragmentation, positive acknowledgment, and custody-transfer routing. It also includes an acoustic link simulator that uses a raytracing model to estimate link performance and latency. While it targets the WHOI Micromodem family of acoustic modems, the modular modem driver implementation has been leveraged to support low-throughput Iridium satellite links and other acoustic modems. It has been tested and used operationally at sea for remote redirection of autonomous underwater vehicles while providing operators with near real time vehicle telemetry and sensor data.