Overview

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange

No version for distro jazzy showing indigo. Known supported distros are highlighted in the buttons above.

segbot_sensors package from segbot repo

segbot segbot_bringup segbot_description segbot_firmware segbot_gazebo segbot_gui segbot_led segbot_logical_translator segbot_navigation segbot_sensors segbot_simulation_apps

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange

No version for distro kilted showing indigo. Known supported distros are highlighted in the buttons above.

segbot_sensors package from segbot repo

segbot segbot_bringup segbot_description segbot_firmware segbot_gazebo segbot_gui segbot_led segbot_logical_translator segbot_navigation segbot_sensors segbot_simulation_apps

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange

No version for distro rolling showing indigo. Known supported distros are highlighted in the buttons above.

segbot_sensors package from segbot repo

segbot segbot_bringup segbot_description segbot_firmware segbot_gazebo segbot_gui segbot_led segbot_logical_translator segbot_navigation segbot_sensors segbot_simulation_apps

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange

No version for distro ardent showing indigo. Known supported distros are highlighted in the buttons above.

segbot_sensors package from segbot repo

segbot segbot_bringup segbot_description segbot_firmware segbot_gazebo segbot_gui segbot_led segbot_logical_translator segbot_navigation segbot_sensors segbot_simulation_apps

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange

No version for distro bouncy showing indigo. Known supported distros are highlighted in the buttons above.

segbot_sensors package from segbot repo

segbot segbot_bringup segbot_description segbot_firmware segbot_gazebo segbot_gui segbot_led segbot_logical_translator segbot_navigation segbot_sensors segbot_simulation_apps

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange

No version for distro crystal showing indigo. Known supported distros are highlighted in the buttons above.

segbot_sensors package from segbot repo

segbot segbot_bringup segbot_description segbot_firmware segbot_gazebo segbot_gui segbot_led segbot_logical_translator segbot_navigation segbot_sensors segbot_simulation_apps

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange

No version for distro eloquent showing indigo. Known supported distros are highlighted in the buttons above.

segbot_sensors package from segbot repo

segbot segbot_bringup segbot_description segbot_firmware segbot_gazebo segbot_gui segbot_led segbot_logical_translator segbot_navigation segbot_sensors segbot_simulation_apps

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange

No version for distro dashing showing indigo. Known supported distros are highlighted in the buttons above.

segbot_sensors package from segbot repo

segbot segbot_bringup segbot_description segbot_firmware segbot_gazebo segbot_gui segbot_led segbot_logical_translator segbot_navigation segbot_sensors segbot_simulation_apps

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange

No version for distro galactic showing indigo. Known supported distros are highlighted in the buttons above.

segbot_sensors package from segbot repo

segbot segbot_bringup segbot_description segbot_firmware segbot_gazebo segbot_gui segbot_led segbot_logical_translator segbot_navigation segbot_sensors segbot_simulation_apps

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange

No version for distro foxy showing indigo. Known supported distros are highlighted in the buttons above.

segbot_sensors package from segbot repo

segbot segbot_bringup segbot_description segbot_firmware segbot_gazebo segbot_gui segbot_led segbot_logical_translator segbot_navigation segbot_sensors segbot_simulation_apps

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange

No version for distro iron showing indigo. Known supported distros are highlighted in the buttons above.

segbot_sensors package from segbot repo

segbot segbot_bringup segbot_description segbot_firmware segbot_gazebo segbot_gui segbot_led segbot_logical_translator segbot_navigation segbot_sensors segbot_simulation_apps

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange

No version for distro lunar showing indigo. Known supported distros are highlighted in the buttons above.

segbot_sensors package from segbot repo

segbot segbot_bringup segbot_description segbot_firmware segbot_gazebo segbot_gui segbot_led segbot_logical_translator segbot_navigation segbot_sensors segbot_simulation_apps

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange

No version for distro jade showing indigo. Known supported distros are highlighted in the buttons above.

segbot_sensors package from segbot repo

segbot segbot_bringup segbot_description segbot_firmware segbot_gazebo segbot_gui segbot_led segbot_logical_translator segbot_navigation segbot_sensors segbot_simulation_apps

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange

segbot_sensors package from segbot repo

segbot segbot_bringup segbot_description segbot_firmware segbot_gazebo segbot_gui segbot_led segbot_logical_translator segbot_navigation segbot_sensors segbot_simulation_apps

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange

No version for distro hydro showing indigo. Known supported distros are highlighted in the buttons above.

segbot_sensors package from segbot repo

segbot segbot_bringup segbot_description segbot_firmware segbot_gazebo segbot_gui segbot_led segbot_logical_translator segbot_navigation segbot_sensors segbot_simulation_apps

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange

No version for distro kinetic showing indigo. Known supported distros are highlighted in the buttons above.

segbot_sensors package from segbot repo

segbot segbot_bringup segbot_description segbot_firmware segbot_gazebo segbot_gui segbot_led segbot_logical_translator segbot_navigation segbot_sensors segbot_simulation_apps

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange

No version for distro melodic showing indigo. Known supported distros are highlighted in the buttons above.

segbot_sensors package from segbot repo

segbot segbot_bringup segbot_description segbot_firmware segbot_gazebo segbot_gui segbot_led segbot_logical_translator segbot_navigation segbot_sensors segbot_simulation_apps

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange

No version for distro noetic showing indigo. Known supported distros are highlighted in the buttons above.

segbot_sensors package from segbot repo

segbot segbot_bringup segbot_description segbot_firmware segbot_gazebo segbot_gui segbot_led segbot_logical_translator segbot_navigation segbot_sensors segbot_simulation_apps

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.3.5
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/utexas-bwi/segbot.git
VCS Type	git
VCS Version	indigo
Last Updated	2018-03-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Contains sensor specific launch files and all the relevant filters that are applied on sensor data before being used by the segbot.

Additional Links

Maintainers

Piyush Khandelwal
Jack O'Quin

Authors

Piyush Khandelwal

Overview

The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.

ROS interfaces

arduino_driver

This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.

Published topics

battery0 (sensor_msgs/BatteryState): Main segbot battery voltage measurements.
imu0 (sensor_msgs/Imu): Acceleration data from the inertial measurement unit.
sonar (sensor_msgs/Range): Sonar ranges for each attached device in its own tf frame.
/diagnostics (diagnostic_msgs/DiagnosticArray): Various device diagnostics.

Parameters

~baud (int, default: 115200): Baud rate for the Arduino serial port.
~port (string, default: /dev/ttyACM0): Serial port attached to the Arduino.

Usage

To run just this driver node:

$ rosrun segbot_sensors arduino_driver

ranges_to_cloud

This node converts sonar Range messages to point clouds.

Subscribed topics

sonar (sensor_msgs/Range): Sonar ranges for each attached device.

Published topics

sensor_ranges (sensor_msgs/PointCloud2): A centered distance point for each sonar range.

Usage

To run both the arduino_driver and this node:

$ roslaunch segbot_sensors arduino.launch

CHANGELOG

Changelog for package segbot_sensors

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

unit test fixes (#65)
fix roslint errors
add missing dependency (#62)
modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
segbot_v3: add robot monitor for diagnostics
added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
updated for hokuyo on segbot v3
changed filter in velodyne launch script.
added an outlier removal filter for the velodyne.
added statistical outlier filter.
switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
added velodyne launch files for version 3
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.3 (2015-08-05)

partial fix to #48.
segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
segbot_sensors: set rospy.Publisher queue_size (fixes #38)
updated kinect launch file to work on both hydro and indigo.
segbot_sensors: convert to package format two (#35)
segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
segbot_sensors: separate basic arduino launch from test scaffolding (#35)
segbot_sensors: use narrower sonar field of view, experimentally measured
Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
added a launch file for ethernet hokuyo for segbot v2.
added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
big rework of all the arduino code to support the sensors on the new mounting plate.
added some diagnostic publications.
removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal

0.2.1 (2014-04-24)

fix some problems catkin_lint discovered
segbot_sensors: make roslaunch checks complete (#20)

0.2.0 (2014-04-17)

Release to Hydro.
segbot_sensors: add explicit build dependency on nodelet.
segbot_sensors: restore missing build dependencies (fixes #25).
Added udev rules for segbot, and updated the kinect laserscan configuration.
Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
segbot_sensors: add explicit message dependency to CMakeLists.txt.
segbot_sensors: add no-op ranges to cloud nodelet.
sensor_ranges_driver: ignore non-ASCII characters sent from device.
sensor_ranges_driver: improve shutdown and error handling.
segbot_sensors: use roslint on Python scripts to do PEP8 checking.
segbot_sensors: add sensor_ranges_driver for Arduino data.
Updated descriptions and licensing information.

0.1.9 (2013-12-15)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	message_generation
	roslint
	catkin
	camera1394
	depthimage_to_laserscan
	diagnostic_aggregator
	filters
	freenect_launch
	hokuyo_node
	message_runtime
	openni_launch
	rospy
	rqt_robot_monitor
	rviz
	tf2_ros
	urg_node
	velodyne_driver
	velodyne_pointcloud
	pointcloud_to_laserscan
	roslaunch
	diagnostic_msgs
	dynamic_reconfigure
	geometry_msgs
	laser_filters
	nodelet
	pcl_ros
	pluginlib
	roscpp
	sensor_msgs
	std_msgs
	tf

System Dependencies

Name
python-serial
python-scipy
python-numpy

Dependant Packages

Name	Deps
segbot
segbot_bringup

Launch files

launch/arduino/arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_plate_link]
  - port [default: /dev/ttyACM0]
  - tf_prefix [default: ]
launch/diagnostic/diagnostics.launch
launch/hokuyo/eth_hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
launch/hokuyo/hokuyo-filters.launch
- - filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
launch/hokuyo/hokuyo-frames.launch
- - name [default: laser]
launch/hokuyo/hokuyo.launch
- - tf_prefix [default: ]
  - name [default: laser]
  - publish_tf [default: true]
  - topic [default: scan]
launch/kinect/kinect-filters.launch
- - in_topic [default: scan]
  - out_topic [default: scan_filtered]
launch/kinect/kinect-laserscan.launch
- - camera [default: camera]
  - tf_prefix [default: ]
  - use_registered [default: false]
  - out_topic [default: scan_filtered]
  - min_height [default: -0.1]
  - max_height [default: 0.1]
launch/kinect/kinect.launch
- - name [default: camera]
  - tf_prefix [default: ]
  - device_id [default: #1]
  - depth_only [default: false]
  - publish_tf [default: false]
launch/ptgrey/usbcam.launch
launch/rviz.launch
launch/velodyne/velodyne-filters.launch
- - in_topic [default: velodyne/scan]
  - out_topic [default: velodyne/scan_filtered]
launch/velodyne/velodyne-laserscan.launch
- - tf_prefix [default: ]
  - in_topic [default: velodyne_points]
  - out_topic [default: velodyne/scan_filtered]
  - min_height [default: -0.3]
  - max_height [default: 0.3]
  - launch_nodelet_manager [default: true]
launch/velodyne/velodyne.launch
- - tf_prefix [default: ]
  - calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
  - min_range [default: 0.4]
  - max_range [default: 130.0]
test/named-hokuyo-ns.launch
test/named-kinect-ns.launch
test/test_arduino.launch
- - baud [default: 115200]
  - frame_id [default: sensor_base]
  - port [default: /dev/ttyACM0]
  - publish_tf [default: true]
  - tf_prefix [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged `segbot_sensors` at Robotics Stack Exchange