teraranger_array_converter repository

Repository Summary

Checkout URI https://github.com/Terabee/teraranger_array_converter.git
VCS Type git
VCS Version ros-release
Last Updated 2017-12-08
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
teraranger_array_converter 1.1.1

README

ROS package for converting messages from TeraRanger array solutions by Terabee

Requirements

WARNING : To be able to convert toward laser_scan and point_cloud, you need to have transforms setup correctly. The easiest is to use URDF xacros defined in the teraranger_description package: * Teraranger_description

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_converter.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_converter.git
cd ~/ros_ws
catkin_make
source devel/setup.bash

Multiple modes

There are multiple conversion modes available for the "converter_mode" parameter:

  • laser_scan
  • point_cloud
  • individual_ranges : 8 topics, 1 range per topic
  • sequential_ranges : 1 topic, 8 ranges per topic
rosrun teraranger_array_converter teraranger_array_converter _converter_mode:=<laser_scan>|<point_cloud>|<individual_ranges>|<sequential_ranges>

Topics

All these topics are local : * Input : /ranges * Outputs (depending on the mode): /laser_scan, /point_cloud, /range_0|/range_1.../range_n, /ranges

Sensor masking

You can mask sensor using the "sensor_mask" parameter :

<rosparam>
      sensor_mask: [true,false,true,false,true,false,true,false]
</rosparam>

CONTRIBUTING

No CONTRIBUTING.md found.