Troubleshooting Guide

This is a list of common errors by system and recommended corrective actions.

Sonars

• The sonar driver cannot find the sonar, no connection established on start up or the sonar is otherwise not working
  • Double check you have a problem, use rostopic hz "sonar topic"
  • Verify the launch file sonar parameter is set to TRUE
  • Restart the navigation bottle, waiting about 30 seconds before turning it back on
  • Verify the sonar cable is plugged in and the packing gland tight (by hand only), consider powering down, unplugging and replugging the sonar

DVL

• The DVL is not pinging on startup or the driver cannot find it
  • Restart the navigation bottle, waiting about 30 seconds before turning it back on
  • The DVL connector can be challenging to get on correctly, unplug and replug. Make sure to power down first
  • There is a DVL configuration error. Use the windows pulse application to check the DVL. Try the break command.

Poor data transfer rate on all systems

• Check internal tether connection, before taking apart the navigation bottle ping the jetson and check ping time