toposens_markers

This package provides functionality for transforming TsScan messages to Markers for visualizing in RViz.

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

• Maps TsPoints of incoming TsScan structure (received on the topic defined by scans_topic parameter, typically /ts_scans) to the target_frame (which is a parameter as well), utilizing subscribed tf
• Converts TsScan/TsPoint data to visualization_msgs/MarkerArray messages by making use of RViz Visual Tools (http://wiki.ros.org/rviz_visual_tools)
• Publishes converted messages on the topic /ts_markers

Usage

Build

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

Enable Serial Port Permissions

Find information on how to setup the serial port permissions in the README of the toposens_driver package.

Run

The ts_markers_node translates the messages of type toposens_msgs/TsScan into messages of type visualization_msgs/MarkerArray, which can be visualized in RViz.

The driver node as well as the markers node are launched from within one launch-file:

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

Configuration

Configuration is done via a dynamic reconfiguration server and launch file parameters.

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

rosrun rqt_reconfigure rqt_reconfigure

There are 2 parameters that can be changed in the ts_markers_node.

Changelog for package toposens_markers

2.2.0 (2021-02-11)

• Optimize launch file structure
• Add .clang-format file and auto-format files (including XML-style files)
• Remove reconfig unit/integration tests
• Bugfix: Install param/ folder
• Contributors: Dennis Maier, Tobias Roth

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)

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)

• Using robot description instead of markers for sensor visualization
• Contributors: Sebastian Dengler

1.2.3 (2019-09-03)

1.2.2 (2019-08-02)

1.2.1 (2019-07-12)

1.2.0 (2019-07-05)

• Added launch files for armhf architectures
• Added rules to install launch & rviz 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
• Implemented test data download functionality
• Contributors: Adi Singh, Roua Mokchah

0.9.5 (2019-05-03)

• Implemented tests for dynamic reconfig
• 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
• Contributors: Adi Singh

0.9.0 (2019-04-09)

0.8.1 (2019-03-29)

• Temperature calibration implemented
• Contributors: 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
• Contributors: Adi Singh

0.5.0 (2019-02-07)