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Package Summary

Tags No category tags.
Version 2.1.1
License BSD 3-Clause
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://gitlab.com/toposens/public/ros-packages.git
VCS Type git
VCS Version master
Last Updated 2020-11-24
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS device driver for communication with TS sensors.

Additional Links

Maintainers

  • Tobias Roth

Authors

  • Adi Singh
  • Sebastian Dengler
  • Christopher Lang
  • Roua Mokchah
  • Nancy Seckel
  • Georgiana Barbut

toposens_driver

This package enables serial communication with a TS3 sensor.

It was developed and tested for ROS Melodic on Ubuntu 18.04 (Bionic) and ROS Kinetic on Ubuntu 16.04 (Xenial) using Toposens TS3 ultrasonic sensor.

Overview

  • Parses the serial datastream and converts it to TsScan messages
  • Publishes the data on the topic /ts_scans
  • Passes firmware commands to the sensor. These commands are meant to let a user change specific signal processing parameters
  • Lets the user change these firmware parameters through a dynamic reconfiguration server

Usage

Build

Find information on how to build the package in the README of the toposens metapackage.

Enable Serial Port Permissions

Add yourself to the “dialout” group:

sudo adduser $USER dialout

Trigger updated group permissions to take effect:

newgrp dialout

Re-login or reboot for the updated group permissions to take effect permanently.

Run

Connect the TS3 sensor via the FTDI or USB cable.

The ts_driver_node translates the sensor data into custom toposens_msgs/TsScan messages.

Launch the driver node and start accruing data from a TS3 sensor. Set the corresponding serial port as launch argument (here: /dev/ttyUSB0):

roslaunch toposens_driver toposens_driver.launch port:=/dev/ttyUSB0

The sensor data is published to the the topic /ts_scans. View the incoming scans with:

rostopic echo /ts_scans

Configuration

The following firmware parameters can be set through the dynamic reconfiguration server:

Parameter Name Description
num_pulses This is the only parameter that has an effect on the emitted ultrasonic signal. It defines the number of electrical pulses that the piezo transmitter is stimulated with in every transmission cycle. The higher the number, the louder and longer the emitted signal will be. As a result, increasing the value will detect objects that are further away, decreasing it will increase the sensor's precision in short range.
echo_rejection_threshold This parameter defines the minimum amplitude, i.e. the signal strength, that a received echo signal needs to have in order to be utilized for further processing. Signals that are below this threshold are discarded. As a result, increasing the value will ignore more points of smaller intensity and only allow strong reflectors to be detected.
peak_detection_window This parameter defines the kernel size for a peak detection filter that is applied on the received ADC signals in order to find the peaks that link to the echoes of the detected objects. When it is set too high, objects that are close to each other might merge to one bigger object. Decreasing it might separate these objects but might also destabilize the resulting signal.
noise_indicator_threshold This parameter has no effect on the visualization of the pointcloud or the markers. It is solely used to mark individual scans with a noise flag. This is done by calculating an overall noise level for the raw ADC signal of one frame. If this noise level lies above the noise_indicator_threshold, the noise flag for this scan is set. This might indicate that there are sources of ultrasonic disturbances in the scene. However the scans will be shown regardless of the noise flag.
external_temperature This parameter defines the temperature that is used for calculating the speed to sound. Its accuracy has an effect on the correct calculation of the distance of objects. The value is only used if use_external_temperature is checked.
use_external_temperature The TS3 also has an on-board temperature sensor. If use_external_temperature is not checked, the TS3 will use its on-board temperature sensor for speed-of-sound calculation. If it is checked, it will use the external_temperature.

To manipulate sensor parameters live in realtime, run in an additional terminal window:

rosrun rqt_reconfigure rqt_reconfigure

Additional Configuration

Additional configuration (to the firmware parameters) is done via launch file parameters.

Parameter Name Description
port The serial port ID that represents the sensor
frame_id The frame ID in which the data is published
CHANGELOG

Changelog for package toposens_driver

2.1.1 (2020-11-24)

2.1.0 (2020-11-03)

  • Introduce bringup package and general updates.
  • Prepare for Noetic release
  • Run separate CI stages for melodic+noetic. Bump up CMake version to 3.0.2.
  • Contributors: Tobias Roth

2.0.4 (2020-10-15)

  • Changed package maintainer
  • Fix catkin_lint issues
  • Contributors: Tobias Roth

2.0.3 (2020-08-12)

  • Added param directory to install
  • Changed address of server for testing files
  • Contributors: Sebastian Dengler

2.0.2 (2020-02-28)

  • Changed package maintainer
  • Contributors: Sebastian Dengler

2.0.1 (2020-01-23)

2.0.0 (2020-01-14)

1.3.0 (2019-11-18)

1.2.3 (2019-09-03)

1.2.2 (2019-08-02)

  • Baudrate changed to 576000 to match TS3 firmware version 13
  • Firmware version displayed at startup
  • Contributors: Andrej Wallwitz, Georgiana Barbut

1.2.1 (2019-07-12)

1.2.0 (2019-07-05)

  • Added support for armhf architectures
  • Added rules to install launch files
  • Contributors: Christopher Lang, Sebastian Dengler

1.1.0 (2019-06-21)

1.0.0 (2019-05-14)

  • Added setup delay to Hz tests
  • Contributors: Adi Singh, Christopher Lang, Sebastian Dengler

0.9.6 (2019-05-13)

  • Add colored tags to tests for console debugging
  • Added sensor mesh to PCL rviz
  • Removed pointcloud dependency on rviz
  • Implemented test data download functionality
  • Contributors: Adi Singh, Roua Mokchah

0.9.5 (2019-05-03)

  • Implemented tests for dynamic reconfig
  • Implemented tests for toposens_pointcloud
  • Contributors: Adi Singh, Roua Mokchah

0.9.3 (2019-04-26)

  • Added automated tests for toposens_markers
  • Contributors: Adi Singh, Roua Mokchah

0.9.2 (2019-04-17)

  • Fixed package versions
  • Added Docker config file
  • Contributors: Adi Singh

0.9.0 (2019-04-09)

  • Integrated with turtlebot packages
  • Linted cmake files
  • Contributors: Adi Singh, Nancy Seckel

0.8.1 (2019-03-29)

  • Added gitlab CI config
  • Added remote Turtlebot launchers
  • Pointcloud instructions added to README.md
  • Temperature calibration implemented
  • Contributors: Adi Singh, Andrej Wallwitz, Nancy Seckel, Sebastian Dengler

0.8.0 (2019-03-08)

  • Added driver documentation
  • Created Command class with overloaded constructors
  • Contributors: Adi Singh, Christopher Lang

0.7.0 (2019-02-27)

  • Added native PCL integration
  • Implemented markers using rviz visual tools
  • Added dynamic reconfigure capability for driver
  • Refactored to standard ROS package template
  • Contributors: Adi Singh

0.5.0 (2019-02-07)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged toposens_driver at answers.ros.org

Package Summary

Tags No category tags.
Version 2.1.1
License BSD 3-Clause
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://gitlab.com/toposens/public/ros-packages.git
VCS Type git
VCS Version master
Last Updated 2020-11-24
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS device driver for communication with TS sensors.

Additional Links

Maintainers

  • Tobias Roth

Authors

  • Adi Singh
  • Sebastian Dengler
  • Christopher Lang
  • Roua Mokchah
  • Nancy Seckel
  • Georgiana Barbut

toposens_driver

This package enables serial communication with a TS3 sensor.

It was developed and tested for ROS Melodic on Ubuntu 18.04 (Bionic) and ROS Kinetic on Ubuntu 16.04 (Xenial) using Toposens TS3 ultrasonic sensor.

Overview

  • Parses the serial datastream and converts it to TsScan messages
  • Publishes the data on the topic /ts_scans
  • Passes firmware commands to the sensor. These commands are meant to let a user change specific signal processing parameters
  • Lets the user change these firmware parameters through a dynamic reconfiguration server

Usage

Build

Find information on how to build the package in the README of the toposens metapackage.

Enable Serial Port Permissions

Add yourself to the “dialout” group:

sudo adduser $USER dialout

Trigger updated group permissions to take effect:

newgrp dialout

Re-login or reboot for the updated group permissions to take effect permanently.

Run

Connect the TS3 sensor via the FTDI or USB cable.

The ts_driver_node translates the sensor data into custom toposens_msgs/TsScan messages.

Launch the driver node and start accruing data from a TS3 sensor. Set the corresponding serial port as launch argument (here: /dev/ttyUSB0):

roslaunch toposens_driver toposens_driver.launch port:=/dev/ttyUSB0

The sensor data is published to the the topic /ts_scans. View the incoming scans with:

rostopic echo /ts_scans

Configuration

The following firmware parameters can be set through the dynamic reconfiguration server:

Parameter Name Description
num_pulses This is the only parameter that has an effect on the emitted ultrasonic signal. It defines the number of electrical pulses that the piezo transmitter is stimulated with in every transmission cycle. The higher the number, the louder and longer the emitted signal will be. As a result, increasing the value will detect objects that are further away, decreasing it will increase the sensor's precision in short range.
echo_rejection_threshold This parameter defines the minimum amplitude, i.e. the signal strength, that a received echo signal needs to have in order to be utilized for further processing. Signals that are below this threshold are discarded. As a result, increasing the value will ignore more points of smaller intensity and only allow strong reflectors to be detected.
peak_detection_window This parameter defines the kernel size for a peak detection filter that is applied on the received ADC signals in order to find the peaks that link to the echoes of the detected objects. When it is set too high, objects that are close to each other might merge to one bigger object. Decreasing it might separate these objects but might also destabilize the resulting signal.
noise_indicator_threshold This parameter has no effect on the visualization of the pointcloud or the markers. It is solely used to mark individual scans with a noise flag. This is done by calculating an overall noise level for the raw ADC signal of one frame. If this noise level lies above the noise_indicator_threshold, the noise flag for this scan is set. This might indicate that there are sources of ultrasonic disturbances in the scene. However the scans will be shown regardless of the noise flag.
external_temperature This parameter defines the temperature that is used for calculating the speed to sound. Its accuracy has an effect on the correct calculation of the distance of objects. The value is only used if use_external_temperature is checked.
use_external_temperature The TS3 also has an on-board temperature sensor. If use_external_temperature is not checked, the TS3 will use its on-board temperature sensor for speed-of-sound calculation. If it is checked, it will use the external_temperature.

To manipulate sensor parameters live in realtime, run in an additional terminal window:

rosrun rqt_reconfigure rqt_reconfigure

Additional Configuration

Additional configuration (to the firmware parameters) is done via launch file parameters.

Parameter Name Description
port The serial port ID that represents the sensor
frame_id The frame ID in which the data is published
CHANGELOG

Changelog for package toposens_driver

2.1.1 (2020-11-24)

2.1.0 (2020-11-03)

  • Introduce bringup package and general updates.
  • Prepare for Noetic release
  • Run separate CI stages for melodic+noetic. Bump up CMake version to 3.0.2.
  • Contributors: Tobias Roth

2.0.4 (2020-10-15)

  • Changed package maintainer
  • Fix catkin_lint issues
  • Contributors: Tobias Roth

2.0.3 (2020-08-12)

  • Added param directory to install
  • Changed address of server for testing files
  • Contributors: Sebastian Dengler

2.0.2 (2020-02-28)

  • Changed package maintainer
  • Contributors: Sebastian Dengler

2.0.1 (2020-01-23)

2.0.0 (2020-01-14)

1.3.0 (2019-11-18)

1.2.3 (2019-09-03)

1.2.2 (2019-08-02)

  • Baudrate changed to 576000 to match TS3 firmware version 13
  • Firmware version displayed at startup
  • Contributors: Andrej Wallwitz, Georgiana Barbut

1.2.1 (2019-07-12)

1.2.0 (2019-07-05)

  • Added support for armhf architectures
  • Added rules to install launch files
  • Contributors: Christopher Lang, Sebastian Dengler

1.1.0 (2019-06-21)

1.0.0 (2019-05-14)

  • Added setup delay to Hz tests
  • Contributors: Adi Singh, Christopher Lang, Sebastian Dengler

0.9.6 (2019-05-13)

  • Add colored tags to tests for console debugging
  • Added sensor mesh to PCL rviz
  • Removed pointcloud dependency on rviz
  • Implemented test data download functionality
  • Contributors: Adi Singh, Roua Mokchah

0.9.5 (2019-05-03)

  • Implemented tests for dynamic reconfig
  • Implemented tests for toposens_pointcloud
  • Contributors: Adi Singh, Roua Mokchah

0.9.3 (2019-04-26)

  • Added automated tests for toposens_markers
  • Contributors: Adi Singh, Roua Mokchah

0.9.2 (2019-04-17)

  • Fixed package versions
  • Added Docker config file
  • Contributors: Adi Singh

0.9.0 (2019-04-09)

  • Integrated with turtlebot packages
  • Linted cmake files
  • Contributors: Adi Singh, Nancy Seckel

0.8.1 (2019-03-29)

  • Added gitlab CI config
  • Added remote Turtlebot launchers
  • Pointcloud instructions added to README.md
  • Temperature calibration implemented
  • Contributors: Adi Singh, Andrej Wallwitz, Nancy Seckel, Sebastian Dengler

0.8.0 (2019-03-08)

  • Added driver documentation
  • Created Command class with overloaded constructors
  • Contributors: Adi Singh, Christopher Lang

0.7.0 (2019-02-27)

  • Added native PCL integration
  • Implemented markers using rviz visual tools
  • Added dynamic reconfigure capability for driver
  • Refactored to standard ROS package template
  • Contributors: Adi Singh

0.5.0 (2019-02-07)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged toposens_driver at answers.ros.org

Package Summary

Tags No category tags.
Version 2.1.1
License BSD 3-Clause
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://gitlab.com/toposens/public/ros-packages.git
VCS Type git
VCS Version master
Last Updated 2020-11-24
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS device driver for communication with TS sensors.

Additional Links

Maintainers

  • Tobias Roth

Authors

  • Adi Singh
  • Sebastian Dengler
  • Christopher Lang
  • Roua Mokchah
  • Nancy Seckel
  • Georgiana Barbut

toposens_driver

This package enables serial communication with a TS3 sensor.

It was developed and tested for ROS Melodic on Ubuntu 18.04 (Bionic) and ROS Kinetic on Ubuntu 16.04 (Xenial) using Toposens TS3 ultrasonic sensor.

Overview

  • Parses the serial datastream and converts it to TsScan messages
  • Publishes the data on the topic /ts_scans
  • Passes firmware commands to the sensor. These commands are meant to let a user change specific signal processing parameters
  • Lets the user change these firmware parameters through a dynamic reconfiguration server

Usage

Build

Find information on how to build the package in the README of the toposens metapackage.

Enable Serial Port Permissions

Add yourself to the “dialout” group:

sudo adduser $USER dialout

Trigger updated group permissions to take effect:

newgrp dialout

Re-login or reboot for the updated group permissions to take effect permanently.

Run

Connect the TS3 sensor via the FTDI or USB cable.

The ts_driver_node translates the sensor data into custom toposens_msgs/TsScan messages.

Launch the driver node and start accruing data from a TS3 sensor. Set the corresponding serial port as launch argument (here: /dev/ttyUSB0):

roslaunch toposens_driver toposens_driver.launch port:=/dev/ttyUSB0

The sensor data is published to the the topic /ts_scans. View the incoming scans with:

rostopic echo /ts_scans

Configuration

The following firmware parameters can be set through the dynamic reconfiguration server:

Parameter Name Description
num_pulses This is the only parameter that has an effect on the emitted ultrasonic signal. It defines the number of electrical pulses that the piezo transmitter is stimulated with in every transmission cycle. The higher the number, the louder and longer the emitted signal will be. As a result, increasing the value will detect objects that are further away, decreasing it will increase the sensor's precision in short range.
echo_rejection_threshold This parameter defines the minimum amplitude, i.e. the signal strength, that a received echo signal needs to have in order to be utilized for further processing. Signals that are below this threshold are discarded. As a result, increasing the value will ignore more points of smaller intensity and only allow strong reflectors to be detected.
peak_detection_window This parameter defines the kernel size for a peak detection filter that is applied on the received ADC signals in order to find the peaks that link to the echoes of the detected objects. When it is set too high, objects that are close to each other might merge to one bigger object. Decreasing it might separate these objects but might also destabilize the resulting signal.
noise_indicator_threshold This parameter has no effect on the visualization of the pointcloud or the markers. It is solely used to mark individual scans with a noise flag. This is done by calculating an overall noise level for the raw ADC signal of one frame. If this noise level lies above the noise_indicator_threshold, the noise flag for this scan is set. This might indicate that there are sources of ultrasonic disturbances in the scene. However the scans will be shown regardless of the noise flag.
external_temperature This parameter defines the temperature that is used for calculating the speed to sound. Its accuracy has an effect on the correct calculation of the distance of objects. The value is only used if use_external_temperature is checked.
use_external_temperature The TS3 also has an on-board temperature sensor. If use_external_temperature is not checked, the TS3 will use its on-board temperature sensor for speed-of-sound calculation. If it is checked, it will use the external_temperature.

To manipulate sensor parameters live in realtime, run in an additional terminal window:

rosrun rqt_reconfigure rqt_reconfigure

Additional Configuration

Additional configuration (to the firmware parameters) is done via launch file parameters.

Parameter Name Description
port The serial port ID that represents the sensor
frame_id The frame ID in which the data is published
CHANGELOG

Changelog for package toposens_driver

2.1.1 (2020-11-24)

2.1.0 (2020-11-03)

  • Introduce bringup package and general updates.
  • Prepare for Noetic release
  • Run separate CI stages for melodic+noetic. Bump up CMake version to 3.0.2.
  • Contributors: Tobias Roth

2.0.4 (2020-10-15)

  • Changed package maintainer
  • Fix catkin_lint issues
  • Contributors: Tobias Roth

2.0.3 (2020-08-12)

  • Added param directory to install
  • Changed address of server for testing files
  • Contributors: Sebastian Dengler

2.0.2 (2020-02-28)

  • Changed package maintainer
  • Contributors: Sebastian Dengler

2.0.1 (2020-01-23)

2.0.0 (2020-01-14)

1.3.0 (2019-11-18)

1.2.3 (2019-09-03)

1.2.2 (2019-08-02)

  • Baudrate changed to 576000 to match TS3 firmware version 13
  • Firmware version displayed at startup
  • Contributors: Andrej Wallwitz, Georgiana Barbut

1.2.1 (2019-07-12)

1.2.0 (2019-07-05)

  • Added support for armhf architectures
  • Added rules to install launch files
  • Contributors: Christopher Lang, Sebastian Dengler

1.1.0 (2019-06-21)

1.0.0 (2019-05-14)

  • Added setup delay to Hz tests
  • Contributors: Adi Singh, Christopher Lang, Sebastian Dengler

0.9.6 (2019-05-13)

  • Add colored tags to tests for console debugging
  • Added sensor mesh to PCL rviz
  • Removed pointcloud dependency on rviz
  • Implemented test data download functionality
  • Contributors: Adi Singh, Roua Mokchah

0.9.5 (2019-05-03)

  • Implemented tests for dynamic reconfig
  • Implemented tests for toposens_pointcloud
  • Contributors: Adi Singh, Roua Mokchah

0.9.3 (2019-04-26)

  • Added automated tests for toposens_markers
  • Contributors: Adi Singh, Roua Mokchah

0.9.2 (2019-04-17)

  • Fixed package versions
  • Added Docker config file
  • Contributors: Adi Singh

0.9.0 (2019-04-09)

  • Integrated with turtlebot packages
  • Linted cmake files
  • Contributors: Adi Singh, Nancy Seckel

0.8.1 (2019-03-29)

  • Added gitlab CI config
  • Added remote Turtlebot launchers
  • Pointcloud instructions added to README.md
  • Temperature calibration implemented
  • Contributors: Adi Singh, Andrej Wallwitz, Nancy Seckel, Sebastian Dengler

0.8.0 (2019-03-08)

  • Added driver documentation
  • Created Command class with overloaded constructors
  • Contributors: Adi Singh, Christopher Lang

0.7.0 (2019-02-27)

  • Added native PCL integration
  • Implemented markers using rviz visual tools
  • Added dynamic reconfigure capability for driver
  • Refactored to standard ROS package template
  • Contributors: Adi Singh

0.5.0 (2019-02-07)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged toposens_driver at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.