As 2017 was the first year the team competed in the RoboSub competition, the software on our first submarine was underdeveloped. It consisted of a simple ROS architecture for position tracking, which was developed using the Turtlesim simulation in the beginner tutorials ROS package. The Turtlesim simulation was used to explore the concept of positioning using differences in distance and heading angles.
The velocity is split into linear and angular parts from the accelerometer and gyroscope in the IMU, respectively. Since we wanted real world positioning capabilities, the team decided to obtain a DVL for future years.
Eagle I had limited object detection capabilities, and during the competition, had a sequence and timer based program rather than a decision making program. The sequence calls were handled by ROS.