at_sonde_ros_driver

Overview

This package provides a ROS 2 driver to stream the monitored parameters of an In-Situ Aqua TROLL Multiparameter Sonde, through modbus serial communication.

This package has been tested with the AT600 Sonde.

Installation

Make sure you have ROS 2 installed on your system.

Binary

To install the binary package, use the following command:

sudo apt update
sudo apt install ros-$ROS_DISTRO-at-sonde-ros-driver

From Source

To build the package from source, follow these steps:

1. Create a workspace directory:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

1. Clone the repository:

git clone https://github.com/ma-shangao/at_sonde_ros_driver.git

1. Prepare the required dependencies with rosdep:

cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y

1. Build the package:

colcon build

ROS 2 Node: at_sonde_ros_driver_node

Published Topics

The node publishes the following topics: | Topic Name | Message Type | Description | |——————————–|————————|—————————————–| | see ROS param pub_topic_names| std_msgs/msg/Float32 | Publisher of selected sonde parameters | | …|

ROS Parameters

The configurable ROS parameters for the node: | Parameter Name | Type | Default Value | Description | |——————————-|—————————-|——————|————————————————————————-| | baud | int | 19200 | Baud rate for serial communication | | modbus_debug_flag | bool | false | Enable debug messages for modbus communication | | modbus_timeout_microseconds | int | 700000 | Timeout for modbus communication in microseconds | | modbus_timeout_seconds | int | 0 | Timeout for modbus communication in seconds | | pub_topic_names | list[string] | [“temperature”, “battery_remaining”] | Names of the topics to publish the streamed data | | retry_limit | int | 5 | Number of retries for modbus communication | | sensor_scan_flag | bool | false | Scan the sensor on the first use after reconfiguration | | serial_port | string | “/dev/ttyUSB0” | Serial port for modbus communication | | sonde_add | int | 1 | Sonde address for modbus communication | | streaming_param_reg_adds | list[int] | [5450, 5674] | Register addresses of the parameters to be streamed |

The pub_topic_names and streaming_param_reg_adds parameters must be set in pairs. The first element of pub_topic_names corresponds to the first element of streaming_param_reg_adds, and so on.

Usage

To run the node, use the following command:

ros2 run at_sonde_ros_driver at_sonde_ros_driver_node

The ROS parameters can also be configured using a YAML file.

ros2 run at_sonde_ros_driver at_sonde_ros_driver_node --ros-args --params-file <path_to_yaml_file>

Known Issues

Some ROS 2 parameters can currently only be set at the start of the node.

Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.