teraranger_description repository

Repository Summary

Checkout URI https://github.com/Terabee/teraranger_description.git
VCS Type git
VCS Version ros-release
Last Updated 2018-10-08
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_description 1.1.0

README

teraranger_description

ROS package for URDF description of TeraRanger products by Terabee

This package is a collection of URDF files of teraranger products: * TeraRanger Tower * TeraRanger Tower Evo

It is required for using these packages: * teraranger_array_converter

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

Using teraranger_description

To add easily a tower to your robot description, first include the xacro (xml macro) file :

<xacro:include filename="$(find teraranger_description)/urdf/teraranger_tower.urdf.xacro"/>

Then you will be able to call the xacro from your main URDF file:

<teraranger_tower multi_hub="false" hub_id="0" parent="base_link" x="0.000" y="0.000" z="0.500" roll="0.0" pitch="0.0" yaw="0.0" />

If you want a custom setup, just include the base_hub and teraranger_one xacro files and build your own setup:

<xacro:include filename="$(find teraranger_description)/urdf/base_hub.urdf.xacro"/>
<xacro:include filename="$(find teraranger_description)/urdf/teraranger_one.urdf.xacro"/>

Custom setup example (1 TeraRanger Hub + 1 TeraRanger One sensor):

<base_hub multi_hub="0" hub_id="0" parent="base_link" x="0.060" y="0.000" z="0.000" roll="0.0" pitch="0.0" yaw="0.0"/>
<teraranger_one multi_hub="0" hub_id="0" id="0" x="0.060" y="0.000" z="0.000" roll="0.0" pitch="0.0" yaw="0.0" gaussian_noise="0.06"/>

INFOS: By settings the multihub parameter to true or 1 you will enable auto-namespacing of the frame_id with the following convention: * sensor frame = hub_${hub_id}_base_range_${id} * hub frame = base_hub_${hub_id}

_To enable compatibility, The ROS driver for the tower (from the teraranger_array package) will append its namespace to the frame_id inside the RangeArray and Range messages, thus it is strongly recommended to use hub_${hub_id} as node namespace for the driver._

CONTRIBUTING

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