Added additional log and updated default configs

Author: evan-palmer

libwaterlinked/src/client.cpp

@@ -242,7 +242,7 @@ auto WaterLinkedClient::get_configuration() -> std::future<CommandResponse>
 
 auto WaterLinkedClient::set_configuration(const Configuration & configuration) -> std::future<CommandResponse>
 {
-  nlohmann::json config_json = configuration;
+  const nlohmann::json config_json = configuration;
   return send_command({{"command", "set_config"}, {"parameters", config_json}});
 }
 

waterlinked_dvl_driver/src/waterlinked_dvl_driver.cpp

@@ -280,6 +280,8 @@ auto WaterLinkedDvlDriver::on_configure(const rclcpp_lifecycle::State & /*previo
       populate_service_response(response, f);
     });
 
+  RCLCPP_INFO(get_logger(), "WaterLinkedDvlDriver loaded successfully");
+
   return CallbackReturn::SUCCESS;
 }
 

waterlinked_dvl_driver/src/waterlinked_dvl_driver_parameters.yaml

@@ -25,15 +25,15 @@ waterlinked_dvl_driver:
 
   speed_of_sound:
     type: int
-    default_value: 1500
+    default_value: 1481
     description: "The speed of sound in water (m/s)."
     read_only: true
     validation:
       bounds<>: [1000, 2000]
 
   mounting_rotation_offset:
     type: int
-    default_value: 0
+    default_value: 180
     description: "The mounting rotation offset of the DVL (degrees)."
     read_only: true
     validation: