Development of a ROS2 Software Architecture for Acoustic Modems and Experimental Validation of JANUS and Flex Communication Modes in Real Coastal Scenarios

This thesis presents the development and experimental validation of a platform for underwater acoustic communications, designed through a modular architecture based on ROS2 and implemented in C++. The goal was to integrate acoustic modems into a flexible, containerized software infrastructure capable of managing multiple protocols and supporting distributed scenarios. The internship activity included both the design of software nodes for modem management and the execution of field trials in the coastal area of Chioggia, under real and variable environmental conditions. In this context, two communication modes were analyzed: JANUS, the international standard for underwater interoperability, and Flex, a high-speed experimental mode. The results highlight the classic trade-off between robustness and performance: JANUS proved reliable at distances exceeding 300 meters, even in the presence of waves and wind, whereas Flex achieved higher bitrates but with limited range and greater sensitivity to noise. The comparative analysis made it possible to identify strengths, limitations, and potential improvements, suggesting the complementary use of the two modes in Internet of Underwater Things (IoUT) applications. This work confirms the effectiveness of an open and modular approach in underwater acoustic communication research, combining software design and sea trials to contribute to the development of interoperable and adaptive systems.