Repository Summary
Checkout URI | https://github.com/Terabee/teraranger_array.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2019-11-27 |
Dev Status | MAINTAINED |
Released | RELEASED |
Packages
Name | Version |
---|---|
teraranger_array | 2.0.0 |
README
ROS package for TeraRanger array solutions by Terabee
This package is a collection of nodes for TeraRanger array solutions: * TeraRanger Tower Evo * TeraRanger Hub Evo * TeraRanger Tower * TeraRanger Multiflex * TeraRanger Hub
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_array.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_array.git
cd ~/ros_ws
catkin_make
source devel/setup.bash
Dependencies
This package depends on this serial library. To get it, execute the following command:
sudo apt-get install ros-<your_distro>-serial
where
If it's not available for your distribution, clone https://github.com/wjwwood/serial into your workspace, then build and source your workspace.
Running TeraRanger Hub Evo & Tower Evo
TeraRanger Hub Evo/Tower Evo uses TeraRanger Evo 60m, TeraRanger Evo 600Hz or TeraRanger Evo 3m sensors for the distance measurements. To use them please run teraranger_evo node.
After your workspace is built and sourced: If you are using USB:
rosrun teraranger_array teraranger_evo _portname:=/dev/ttyACM0
If you are using UART Daughterboard:
rosrun teraranger_array teraranger_evo _portname:=/dev/ttyACM0 _baudrate:=921600
Running TeraRanger Tower & TeraRanger Hub
TeraRanger Tower and TeraRanger Hub uses TeraRanger One sensors for the distance measurements. To use them please run teraranger_one node.
After your workspace is built and sourced:
rosrun teraranger_array teraranger_one _portname:=/dev/ttyACM0
Running TeraRanger Multiflex
To use TeraRanger Multiflex please run teraranger_multiflex node.
After your workspace is built and sourced:
rosrun teraranger_array teraranger_multiflex _portname:=/dev/ttyACM0
Changing Sensor Configuration
You can change the operating mode of the sensors by running rqt_reconfigure:
rosrun rqt_reconfigure rqt_reconfigure
IMPORTANT: Please notice that for the Hub Evo you are able to set the sensor type of each sensor (Evo 60m, Evo 600Hz, Evo 3m or Evo Mini) with a dynamic_reconfigure for each port
By default sensors are set to Evo 60m type.
Product pictures and where to get the sensors
Teraranger Tower Evo
Information |
---|
Product page |
Specification sheet |
TeraRanger Hub Evo
Information |
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Product page |
Specification sheet |
TeraRanger Tower
Information |
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Product page |
Specification sheet |
TeraRanger Multiflex
Information |
---|
Product page |
Specification sheet |