PASSIVE SONAR: make paulboard_driver a python pkg

The scripts here were demoted from being a ros package. It should be
removed from the SubjuGator repo.

drivers/mil_passive_sonar/README.md

@@ -2,15 +2,23 @@
 
 This script interfaces with Jake's sonar board and provides a ROS service that returns the location and time of emission of the last heard pinger pulse.
 
-### How to run and use
+## How to run and use
 To start the driver, run:
 
-    roslaunch sub8_sonar sonar.launch
+    rosrun mil_passive_sonar sonar.launch
 
-*Note: In /launch/sonar.launch, make sure that port and baud are set correctly, and that the hydrophones' coordinates in the sonar frame are accurate.*
+> Note: make sure that port, and baud rate, and hydrophone locations are loaded into the parameter server. See launch/test.launch for an example.
 
 In order to ask for hydrophone information:
 
     rosservice call /sonar/get_pinger_pulse *double_tab*
 
-The service should respond with the x, y, z, and t of the emission of the last heard pinger pulse.
+The service should respond with the x, y, and z of the last heard pinger
+pulse. Remember that this should be considered the tip of an arrow
+pointing in the direction of the pinger, the range is completely unreliable
+and varies wildly.
+
+## TODO
++ This package is not yet fully set up to use the paulbaurd. The interface to make this happen would be simple to implement.
++ This package should estimate the least squares solution for the actual 3d position of the pinger.
++ Visualize both individual heading veactors and the LS position estimate.

drivers/mil_passive_sonar/launch/test.launch

@@ -1,5 +1,5 @@
 <launch>
-    <node pkg="sub8_sonar" type="sonar_test.py" name="sonar_test" output="screen">
+    <node pkg="mil_passsive_sonar" type="sonar_test.py" name="sonar_test" output="screen">
         <!-- units in millimeters for greater accuracy -->
         <!-- current configuration -->
 <!--         <rosparam param="hydrophones">
@@ -16,4 +16,4 @@
                 hydro3: {x:      22, y:   -12.7, z: 0}}
         </rosparam>
     </node>
-</launch>
+</launch>

drivers/mil_passive_sonar/paulboard_driver/README.md

@@ -1,6 +1,19 @@
-Explanation of `permute` parameter
-----------------------------------
+# Paulboard Driver
+
+The scripts here are used to run the old 'Paulboard', the hydrophone board,
+that MIL started using in 2013.
+
+The driver node in this package used to interface with the old 'hydrophone'
+package. Communication would occur via custom ROS msg's.
+
+## TODO
+If there is a need or want to continue using this board, as opposed to Jake
+Easterling's, then the sonar_driver node in mil_passive_sonar should be,
+ammended to be able to import the paulboard_driver code.
+
+## Explanation of `permute` parameter
 
 A `permute` value of `w x y z` means that the connector labeled Aw on the PCB
 maps to hydrophone 0 as the hydrophones package wants it, Ax maps to 1, Ay
-maps to 2, and Az maps to 3. See `README.md` in the hydrophones package.
+maps to 2, and Az maps to 3.
+

drivers/mil_passive_sonar/setup.py

@@ -5,7 +5,9 @@
 
 # fetch values from package.xml
 setup_args = generate_distutils_setup(
-    packages=['mil_passive_sonar', 'multilateration'],
+    packages=['mil_passive_sonar',
+              'multilateration',
+              'paulboard_driver'],
 )
 
 setup(**setup_args)