toposens repository

Repository Summary

Checkout URI https://gitlab.com/toposens/public/ros-packages.git
VCS Type git
VCS Version master
Last Updated 2019-05-15
Dev Status DEVELOPED
Released RELEASED

Packages

Name Version
toposens 1.0.0
toposens_driver 1.0.0
toposens_markers 1.0.0
toposens_msgs 1.0.0
toposens_pointcloud 1.0.0

README

Toposens

pipeline status

Overview

ROS packages for working with Toposens 3D Ultrasound sensors: http://toposens.com/

Developed and tested for ROS Melodic on Ubuntu 18.04 (Bionic)

Setup

For Ubuntu 18.04 (and maybe other versions)

  • Follow this guide to install ROS on your system

  • Install missing dependencies

    sudo apt install python-catkin-tools ros-melodic-rviz-visual-tools ros-melodic-code-coverage

Building

  • Follow Section 3 of this guide to create your catkin workspace

  • Clone this repo into your catkin workspace

    git@gitlab.com:toposens/public/ros-packages.git

  • Build your workspace from inside your catkin folder

    catkin build toposens

Running

Launching the Driver

  • Make sure you are part of the dialout group:

    sudo adduser $USER dialout

  • Trigger updated group permissions to take effect:

    newgrp dialout

  • Launch the driver and start accruing data from a TS sensor

    roslaunch toposens_driver toposens_driver.launch

  • To manipulate sensor parameters live in realtime, run in a new terminal

    rosrun rqt_reconfigure rqt_reconfigure


Launching the Markers

  • Launch the markers node:

    roslaunch toposens_markers toposens_markers.launch

  • To manipulate marker parameters live in realtime, run in a new terminal:

    rosrun rqt_reconfigure rqt_reconfigure


Launching the Pointcloud

  • Start the driver:

    roslaunch toposens_driver toposens_driver.launch

  • Launch the pointcloud in a new terminal window:

    roslaunch toposens_pointcloud toposens_cloud.launch

  • To manipulate pointcloud parameters live in realtime, run in a new terminal:

    rosrun rqt_reconfigure rqt_reconfigure


Turtlebot Integration

We assume, that the Turtlebot has been already setup once and that you know its IP address (<turtlebot_ip>, e.g. 192.168.0.179).

  • Clone the turtlebot repos into your catkin workspace:

    git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

    git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

  • Build your workspace from inside your catkin folder:

    catkin build turtlebot3_msgs turtlebot3

  • Get to know your own IP address:

    In a terminal run ifconfig. In the displayed messages look for wlp4s0 and its inet address (<master_ip>, e.g. 192.168.0.118)

  • Add neccessary ROS parameters to your machine's bashrc (nano ~/.bashrc):

    export TURTLEBOT3_MODEL='burger'
    export ROS_MASTER_URI=http://<master_ip> :11311
    export ROS_HOSTNAME=<turtlebot_ip>

  • SSH into your Turtlebot's onboard computer:

    ssh pi@<turtlebot_ip>

  • Check and eventually adapt neccessary ROS parameters in the turtlebot's bashrc (cat ~/.bashrc, nano ~/.bashrc):

    export TURTLEBOT3_MODEL='burger'
    export ROS_MASTER_URI=http://<master_ip> :11311
    export ROS_HOSTNAME=<turtlebot_ip>

  • On the turtlebot start the special driver node:

    roslaunch toposens_driver toposens_turtlebot.launch

  • From the remote computer, launch the special pointcloud file:

    roslaunch toposens_pointcloud turtlebot_cloud.launch