ROS API

This package provides an interface to a micro controller board with which an array of ultrasonic sensors are connected and distance to the surrounding environment can be calculated based on the input gathered from the ultrasonic sensors.

us_driver

Published Topics

• Publishes the ranges as calculated by the us_driver node.

Parameters

• configurations is an array in which each element defines a configuration which is loaded sequentially and in a loop until a new configuration is provided. Each element of the array is a dictionary where the key is the sensor address of a pinging sensor defined as a string and the value is an array of integers which specify the addresses of the listening sensors which are to be read corresponding to the pinging sensor address provided as the key.

• Enable it to show debug messages.

I/O Pin Mapping on controller board

The following table summarizes the input and output connections to and from the sensors connected to the controller board. The table is with respect to the micro controller.

Usage/Examples

The us_driver node can be executed by:

roslaunch ipa_odroidx_ultrasonic_interface us_driver.launch

In the following example configuration yaml file, in the first cycle, sensor '1' and '2' are set as both pinging and listening sensors, sensors '3' and '4' listen to sensor '1' whereas '5' listens to sensor '2'. In the second cycle, sensors '10' and '13' are set as pinging sensors, sensors '1' and '12' listen to sensor '10' and sensor '7' and '8' listen to sensor '13':

   1 configurations:
   2 [
   3  {
   4   '1':[1,3,4],
   5   '2':[2,5]
   6  },
   7  {
   8   '10':[1,12],
   9   '13':[7,8]
  10  }
  11 ]