ROS Index
|
at_sonde_ros_driver package from at_sonde_ros_driver repoat_sonde_ros_driver |
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ma-shangao/at_sonde_ros_driver.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-05-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- MA Song
Authors
at_sonde_ros_driver
Overview
This package provides a ROS 2 driver to stream the monitored parameters of an In-Situ Aqua TROLL Multiparameter Sonde, through modbus serial communication.
This package has been tested with the AT600 Sonde.
Requirements
Prepare the required dependencies with rosdep:
rosdep install --from-paths src --ignore-src -r -y
ROS 2 Node: at_sonde_ros_driver_node
Published Topics
The node publishes the following topics:
| Topic Name | Message Type | Description |
|——————————–|————————|—————————————–|
| see ROS param pub_topic_names| std_msgs/msg/Float32 | Publisher of selected sonde parameters |
| …|
ROS Parameters
The configurable ROS parameters for the node:
| Parameter Name | Type | Default Value | Description |
|——————————-|—————————-|——————|————————————————————————-|
| baud | int | 19200 | Baud rate for serial communication |
| modbus_debug_flag | bool | false | Enable debug messages for modbus communication |
| modbus_timeout_microseconds | int | 700000 | Timeout for modbus communication in microseconds |
| modbus_timeout_seconds | int | 0 | Timeout for modbus communication in seconds |
| pub_topic_names | list[string] | [“temperature”, “battery_remaining”] | Names of the topics to publish the streamed data |
| retry_limit | int | 5 | Number of retries for modbus communication |
| sensor_scan_flag | bool | false | Scan the sensor on the first use after reconfiguration |
| serial_port | string | “/dev/ttyUSB0” | Serial port for modbus communication |
| sonde_add | int | 1 | Sonde address for modbus communication |
| streaming_param_reg_adds | list[int] | [5450, 5674] | Register addresses of the parameters to be streamed |
The pub_topic_names and streaming_param_reg_adds parameters must be set in pairs. The first element of pub_topic_names corresponds to the first element of streaming_param_reg_adds, and so on.
Usage
To run the node, use the following command:
ros2 run at_sonde_ros_driver at_sonde_ros_driver_node
The ROS parameters can also be configured using a YAML file.
ros2 run at_sonde_ros_driver at_sonde_ros_driver_node --ros-args --params-file <path_to_yaml_file>
Known Issues
Some ROS 2 parameters can currently only be set at the start of the node.
Changelog for package at_sonde_ros_driver
1.0.0 (2025-05-13)
- Create dependabot.yml
- Retire ament_target_dependencies in cmake
- Set up CI, bypass linting for humble due to different default cfgsbug mode
- Set up serial communication and accept wiper warning (ID 4)
- Provide a config example.
- Initial release
- Contributors: MA Song
Wiki Tutorials
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged at_sonde_ros_driver at Robotics Stack Exchange
|
|
at_sonde_ros_driver package from at_sonde_ros_driver repoat_sonde_ros_driver |
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ma-shangao/at_sonde_ros_driver.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-05-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- MA Song
Authors
at_sonde_ros_driver
Overview
This package provides a ROS 2 driver to stream the monitored parameters of an In-Situ Aqua TROLL Multiparameter Sonde, through modbus serial communication.
This package has been tested with the AT600 Sonde.
Requirements
Prepare the required dependencies with rosdep:
rosdep install --from-paths src --ignore-src -r -y
ROS 2 Node: at_sonde_ros_driver_node
Published Topics
The node publishes the following topics:
| Topic Name | Message Type | Description |
|——————————–|————————|—————————————–|
| see ROS param pub_topic_names| std_msgs/msg/Float32 | Publisher of selected sonde parameters |
| …|
ROS Parameters
The configurable ROS parameters for the node:
| Parameter Name | Type | Default Value | Description |
|——————————-|—————————-|——————|————————————————————————-|
| baud | int | 19200 | Baud rate for serial communication |
| modbus_debug_flag | bool | false | Enable debug messages for modbus communication |
| modbus_timeout_microseconds | int | 700000 | Timeout for modbus communication in microseconds |
| modbus_timeout_seconds | int | 0 | Timeout for modbus communication in seconds |
| pub_topic_names | list[string] | [“temperature”, “battery_remaining”] | Names of the topics to publish the streamed data |
| retry_limit | int | 5 | Number of retries for modbus communication |
| sensor_scan_flag | bool | false | Scan the sensor on the first use after reconfiguration |
| serial_port | string | “/dev/ttyUSB0” | Serial port for modbus communication |
| sonde_add | int | 1 | Sonde address for modbus communication |
| streaming_param_reg_adds | list[int] | [5450, 5674] | Register addresses of the parameters to be streamed |
The pub_topic_names and streaming_param_reg_adds parameters must be set in pairs. The first element of pub_topic_names corresponds to the first element of streaming_param_reg_adds, and so on.
Usage
To run the node, use the following command:
ros2 run at_sonde_ros_driver at_sonde_ros_driver_node
The ROS parameters can also be configured using a YAML file.
ros2 run at_sonde_ros_driver at_sonde_ros_driver_node --ros-args --params-file <path_to_yaml_file>
Known Issues
Some ROS 2 parameters can currently only be set at the start of the node.
Changelog for package at_sonde_ros_driver
1.0.0 (2025-05-13)
- Create dependabot.yml
- Retire ament_target_dependencies in cmake
- Set up CI, bypass linting for humble due to different default cfgsbug mode
- Set up serial communication and accept wiper warning (ID 4)
- Provide a config example.
- Initial release
- Contributors: MA Song
Wiki Tutorials
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged at_sonde_ros_driver at Robotics Stack Exchange
|
|
at_sonde_ros_driver package from at_sonde_ros_driver repoat_sonde_ros_driver |
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ma-shangao/at_sonde_ros_driver.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-05-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- MA Song
Authors
at_sonde_ros_driver
Overview
This package provides a ROS 2 driver to stream the monitored parameters of an In-Situ Aqua TROLL Multiparameter Sonde, through modbus serial communication.
This package has been tested with the AT600 Sonde.
Requirements
Prepare the required dependencies with rosdep:
rosdep install --from-paths src --ignore-src -r -y
ROS 2 Node: at_sonde_ros_driver_node
Published Topics
The node publishes the following topics:
| Topic Name | Message Type | Description |
|——————————–|————————|—————————————–|
| see ROS param pub_topic_names| std_msgs/msg/Float32 | Publisher of selected sonde parameters |
| …|
ROS Parameters
The configurable ROS parameters for the node:
| Parameter Name | Type | Default Value | Description |
|——————————-|—————————-|——————|————————————————————————-|
| baud | int | 19200 | Baud rate for serial communication |
| modbus_debug_flag | bool | false | Enable debug messages for modbus communication |
| modbus_timeout_microseconds | int | 700000 | Timeout for modbus communication in microseconds |
| modbus_timeout_seconds | int | 0 | Timeout for modbus communication in seconds |
| pub_topic_names | list[string] | [“temperature”, “battery_remaining”] | Names of the topics to publish the streamed data |
| retry_limit | int | 5 | Number of retries for modbus communication |
| sensor_scan_flag | bool | false | Scan the sensor on the first use after reconfiguration |
| serial_port | string | “/dev/ttyUSB0” | Serial port for modbus communication |
| sonde_add | int | 1 | Sonde address for modbus communication |
| streaming_param_reg_adds | list[int] | [5450, 5674] | Register addresses of the parameters to be streamed |
The pub_topic_names and streaming_param_reg_adds parameters must be set in pairs. The first element of pub_topic_names corresponds to the first element of streaming_param_reg_adds, and so on.
Usage
To run the node, use the following command:
ros2 run at_sonde_ros_driver at_sonde_ros_driver_node
The ROS parameters can also be configured using a YAML file.
ros2 run at_sonde_ros_driver at_sonde_ros_driver_node --ros-args --params-file <path_to_yaml_file>
Known Issues
Some ROS 2 parameters can currently only be set at the start of the node.
Changelog for package at_sonde_ros_driver
1.0.0 (2025-05-13)
- Create dependabot.yml
- Retire ament_target_dependencies in cmake
- Set up CI, bypass linting for humble due to different default cfgsbug mode
- Set up serial communication and accept wiper warning (ID 4)
- Provide a config example.
- Initial release
- Contributors: MA Song