Only released in EOL distros:  

evapi_ros: evarobot_battery | evarobot_bumper | evarobot_controller | evarobot_driver | evarobot_eio | evarobot_infrared | evarobot_minimu9 | evarobot_odometry | evarobot_orientation | evarobot_sonar | evarobot_start | evarobot_teleop

Package Summary

evarobot_infrared provides distance information read by infrared sensors.

Nodes

evarobot_infrared

evarobot_infrared reads infrared sensors on the Evarobot and outputs range value of the sensors.

Published Topics

sensor/ir<n> (sensor_msgs/Range)
  • Range of <n>th infrared sensor.

Parameters

~devicePath (string, default: /dev/spidev0.0)

  • Driver path of spi.
~namespace (string, default: sensor)
  • Namespace of topic.
~frameNamespace (string, default: sensor)
  • Namespace of frame id.
~alwaysOn (bool, default: true)
  • if false, it doesn't publish data until a node subscribes.
~spiMode (int, default: 0)
  • SPI Mode.
~spiSpeed (int, default: 1000000)
  • Speed of SPI.
~spiBits (int, default: 8)
  • SPI bits per word.
~frequency (double, default: 10.0)
  • Maximum frequency of loop.
~field_of_view (double, default: [0.01, 0.01, 0.01, 0.01])
  • Vision angle of infrared sensor in radian.
~minRange (double, default: [0.0, 0.0, 0.0, 0.0])
  • Minimum range of infrared sensor.
~maxRange (double, default: [0.80, 0.80, 0.80, 0.80])
  • Maximum range of infrared sensor.
~channelNo (int, default: [0, 1, 2, 3])
  • Channel number of infrared sensors.
~parK (double, default: [0.42, 0.42, 0.42, 0.42])
  • Parameter K for converting from voltage to range.
~parA (double, default: [0.0000473, 0.0000473, 0.0000473, 0.0000473])
  • Parameter A for converting from voltage to range.
~parB (double, default: [-0.0013461, -0.0013461, -0.0013461, -0.0013461])
  • Parameter B for converting from voltage to range.

Wiki: evarobot_infrared (last edited 2017-11-06 12:24:30 by DidemOzupekTas)