1.IMBS:

Positioning and mapping of underwater vehicles using IMU and multibeam sonar

2.Installation instructions：

environment：C++17
             Ubuntu20.04
             ROS Noetic
             Opencv
             PCL
             CERES
             CV_BRIDGE

install：
        1. reference resources https://field-robotics-lab.github.io/dave.doc/ Install DAVE emulator
        2. NOTE: If you want to use multi beam sonar, please be sure to install NVIDIA cuda and related drivers
        3. After installation is completed, there is a workspace uuv_ws in the directory
        4. cd uuv_ws/src
        5. git clone this project's package
        6. roslaunch uuv_rexrov_sonar sonar_slam.launch
           You can see a gazebo underwater environment, including rexrov, as shown in the following figure

        7. Place the mouse on the terminal and use WASD and QEZX to control the movement of the ROV
        8. rosrun uuv_rexrov_sonar ros_noetic_running_node Start Frontend pose estimation
           You can use RVIZ to view related topics, where you can see trajectories and point cloud maps
        9. rosrun uuv_rexrov_sonar ros_noetic_backend_node
           Then perform backend optimization