Our hydrophones are a powerful tool for figuring out where we are in the water. Using 4 hydrophones, we can calculated our bearing to the pinger. For details, see Pinger Bearing.

Materials:

1 tub of water
1 pinger
Hydrophone Test Rig

Test Rig: - Pinger at one end of tub - Hydrophones at other end of tub - If lots of noise in readings observed, can place towels around tub

Procedure:

1- ssh into the sub
2- roslaunch robosub cobalt.launch
3- rosrun robosub pinger_bearing
4- rostopic echo /hydrophones/bearing
5- Manipulate hydrophones & Observe bearing readings