teraranger_description package from teraranger_description repo

teraranger_description

Package Summary

Tags No category tags.
Version 1.1.0
License TODO
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Terabee/teraranger_description.git
VCS Type git
VCS Version ros-release
Last Updated 2018-10-08
Dev Status MAINTAINED
CI status Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The teraranger_description package

Additional Links

Maintainers

  • Baptiste Potier

Authors

  • Krzysztof Zurad
  • Kabaradjian Pierre-Louis
  • Baptiste Potier

teraranger_description

ROS package for URDF description of TeraRanger products by Terabee

This package is a collection of URDF files of teraranger products: * TeraRanger Tower * TeraRanger Tower Evo

It is required for using these packages: * teraranger_array_converter

Building and running the package from source

To clone and build the package in your workspace follow these steps:

  • If you have ssh key setup for your github account:
cd ~/ros_ws/src
git clone git@github.com:Terabee/teraranger_description.git
cd ~/ros_ws
catkin_make
source devel/setup.bash

  • If you prefer to use https use this set of commands:
cd ~/ros_ws/src
git clone https://github.com/Terabee/teraranger_description.git
cd ~/ros_ws
catkin_make
source devel/setup.bash

Using teraranger_description

To add easily a tower to your robot description, first include the xacro (xml macro) file :

<xacro:include filename="$(find teraranger_description)/urdf/teraranger_tower.urdf.xacro"/>

Then you will be able to call the xacro from your main URDF file:

<teraranger_tower multi_hub="false" hub_id="0" parent="base_link" x="0.000" y="0.000" z="0.500" roll="0.0" pitch="0.0" yaw="0.0" />

If you want a custom setup, just include the base_hub and teraranger_one xacro files and build your own setup:

<xacro:include filename="$(find teraranger_description)/urdf/base_hub.urdf.xacro"/>
<xacro:include filename="$(find teraranger_description)/urdf/teraranger_one.urdf.xacro"/>

Custom setup example (1 TeraRanger Hub + 1 TeraRanger One sensor):

<base_hub multi_hub="0" hub_id="0" parent="base_link" x="0.060" y="0.000" z="0.000" roll="0.0" pitch="0.0" yaw="0.0"/>
<teraranger_one multi_hub="0" hub_id="0" id="0" x="0.060" y="0.000" z="0.000" roll="0.0" pitch="0.0" yaw="0.0" gaussian_noise="0.06"/>

INFOS: By settings the multihub parameter to true or 1 you will enable auto-namespacing of the frame_id with the following convention: * sensor frame = hub_${hub_id}_base_range_${id} * hub frame = base_hub_${hub_id}

_To enable compatibility, The ROS driver for the tower (from the teraranger_array package) will append its namespace to the frame_id inside the RangeArray and Range messages, thus it is strongly recommended to use hub_${hub_id} as node namespace for the driver._

CHANGELOG

Changelog for package teraranger_description

1.1.0 (2018-10-08)

  • Update README for Tower Evo
  • Add files for Tower Evo
  • Contributors: Baptiste Potier, Kabaradjian Pierre-Louis

1.0.2 (2017-09-28)

  • Remove old naming references
  • Contributors: Kabaradjian Pierre-Louis

1.0.1 (2017-09-20)

  • Update package.xml
  • Add hub_id prefix to \"base_hub\" when multi-hub is enabled
  • Contributors: Kabaradjian Pierre-Louis

1.0.0 (2017-09-18)

  • Update README.md
  • Initial commit
  • Contributors: Zurad Krzysztof, Kabaradjian Pierre-Louis, Potier Baptiste

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Package Dependencies

Deps Name
1 catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Messages

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