Eddy is a semi-autonomous surface vessel designed to facilitate unmanned sampling of biomatter in natural bodies of waters. Eddy is outfitted with; a single beam echosounder for estimating biomass in the water column, a downward facing low-light HD camera for imaging biomatter, a GPS sensor for localization and navigation, an IMU for attitude measurement and localization correction and a high powered LED to illuminate underwater features in extreme conditions.

• /eddy/gps/fix - sensor_msgs/NatSatFix

• /eddy/gps/time_reference - sensor_msgs/TimeReference

• /eddy/gps/vel - geometry_msgs/TwistStamped

• /eddy/imu/accel - geometry_msgs/Vector3Stamped

• /eddy/imu/gravity - geometry_msgs/Vector3Stamped

• /eddy/imu/imu - sensor_msgs/Imu

• /eddy/imu/magnetic_field - sensor_msgs/MagneticField

• /eddy/camera/image_raw - sensor_msgs/Image

• /eddy/camera/camera_info - sensor_msgs/CameraInfo

• /eddy/camera/compressed - sensor_msgs/CompressedImage

• /eddy/sonar/history - sensor_msgs/Image

• /eddy/sonar/profile - std_msgs/UInt8MultiArray

• /eddy/sonar/distance - sensor_msgs/Range

• /eddy/cmd_vel - geometry_msgs/Twist

• /eddy/cmd_thrust - geometry_msgs/Wrench

• /eddy/joystick - sensor_msgs/Joy

• /eddy/status/buzzer - std_msgs/Bool

• /eddy/status/led/rosbag - std_msgs/ColorRGBA

• /eddy/status/led/controller - std_msgs/ColorRGBA

• /eddy/status/led/sonar - std_msgs/ColorRGBA

• /eddy/status/led/gps - std_msgs/ColorRGBA

• /eddy/status/led/camera - std_msgs/ColorRGBA