## Repository: https://github.com/Terabee/teraranger
<<PackageHeader(teraranger)>> <<TOC(4)>>

Github: *[[https://github.com/Terabee/teraranger]]

== Supported Hardware ==
This package works with TeraRanger '''Evo Mini''', TeraRanger '''Evo 60m''', TeraRanger '''Evo 600Hz''', TeraRanger '''Evo 3m''' ,  TeraRanger '''Evo Thermal 33/90''', TeraRanger '''Evo 64px''', TeraRanger '''One''' and TeraRanger '''Duo'''. You can find more information below.

TeraRanger '''Evo 60m''' is the long range Time-of-Flight distance sensor of the TeraRanger product family.
It provides calibrated distance readings in millimetres and has a range up to 60m, whilst remaining lightweight and small! Instead of laser, TeraRanger Evo uses LED technology.
React faster and detect obstacles with greater assurance, TeraRanger '''Evo 600Hz''' is perfect for high-speed collision avoidance and object detection solution!
With its 10cm to 3m range, 100Hz fixed update rate and greater accuracy(+/-2cm), the TeraRanger '''Evo 3m''', is optimized for close-range distance measurement.
                        {{attachment:TeraRanger_Evo.jpg}}

For more information about TeraRanger '''Evo 60m/Evo 600Hz/Evo 3m''':

*[[https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-evo-60m//]]

*[[https://www.terabee.com/portfolio-item/teraranger-evo-3m/]]

*[[https://www.terabee.com/portfolio-item/teraranger-evo-600hz/]]

*[[https://www.terabee.com/sensors-modules/lidar-tof-range-finders//]]
-----
TeraRanger '''Evo Mini'''
                        {{attachment:TeraRanger_EvoMini.jpg}}

For more information about TeraRanger '''Evo Mini''':

*[[https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-evo-mini/]]
-----

TeraRanger '''Evo Thermal 33/90''' Monitor heat variations, detect movement and capture the unseen! In a compact and affordable design, ideal for OEM integration in Smart City, Smart building, Robotics and Industrial applications.
For more information about TeraRanger '''Evo Thermal 33/90''':
                       {{attachment:TeraRanger_Evo_Thermal_33_90.jpg}}

*[[https://www.terabee.com/shop/thermal-cameras/teraranger-evo-thermal-90/]]

*[[https://www.terabee.com/shop/thermal-cameras/teraranger-evo-thermal-33/]]

*[[https://www.terabee.com/sensors-modules/thermal-cameras/]]
-----

TeraRanger '''Evo 64px''' is a lightweight, high-performance multi-pixel sensor based on infrared Time-of-Flight (ToF) technology.
For more information about TeraRanger '''Evo 64px''':
                       {{attachment:TeraRanger_Evo_64px.jpg}}

*[[https://www.terabee.com/shop/3d-tof-cameras/teraranger-evo-64px/]]

*[[https://www.terabee.com/sensors-modules/3d-tof-cameras/]]
-----

TeraRanger '''One''' is a lightweight, high-performance distance measurement sensor based on infrared Time-of-Flight (ToF) technology.
                        {{attachment:Teraranger_one.jpg}}

For more information about TeraRanger '''One''':

*[[https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-one/]]

*[[https://www.terabee.com/sensors-modules/lidar-tof-range-finders/]]
-----
TeraRanger Duo is a powerful surface detection solution for any environment! Combining our advanced infrared Time-of-Flight (ToF) technology with classic ultrasound technology, you’ll never again have issues detecting the proximity of difficult surfaces.

{{attachment:Teraranger_duo.jpg}}

For more information about TeraRanger '''Duo''':

*[[https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-duo/]]

*[[https://www.terabee.com/sensors-modules/lidar-tof-range-finders/]]

== API Stability ==
The ROS API of this driver should be considered stable.

== Nodes ==
{{{
#!clearsilver CS/NodeAPI
desc = This node is the official driver for TeraRanger '''Evo 60m''', TeraRanger '''Evo 600Hz''' and TeraRanger '''Evo 3m'''.
node.0 {
name = evo

pub {
  0.name = /teraranger_evo
  0.type = sensor_msgs/Range
  0.desc = Provides range reading
}

param {
 1.name = _portname
 1.type = str, default: "/dev/ttyACM0"
 1.desc = The device path to open.
 2.name = _sensor_type
 2.type = str, default: "Evo_60m"
 2.desc = The type of sensor to define "Evo_60m", "Evo_600Hz" or "Evo_3m".
}
}

node.1 {
    name = evo_mini
    desc = This node is the official driver for TeraRanger '''Evo Mini'''
    pub {
      0.name = /teraranger_evo_mini/range
      0.type = sensor_msgs/Range
      0.desc = Provides distance data when sensor in single-pixel mode
      1.name = /teraranger_evo_mini/ranges
      1.type = teraranger_array/RangeArray
      1.desc = Provides distance data when sensor in multi-pixel mode
    }

    param {
      group.0 {
        name=Static Parameters
        0.name = _portname
        0.type = str, default: "/dev/ttyACM0"
        0.desc = The device path to open.
      }
      group.1 {
        name=Dynamic Parameters
        0.name = Pixel_mode
        0.desc = Set the pixel mode: 0 = Single, 1 = Two, 2 = Two by Two
        0.type = int
        0.default = 0
        1.name = Range_mode
        1.desc = Set the ranging mode: 0 = Long , 1 = Short
        1.type = int
        1.default = 0
      }
    }
  }

node.2 {
    name = evo_thermal
    desc = This node is the official driver for TeraRanger '''Evo Thermal 33/90'''
    pub {
      0.name = /teraranger_evo_thermal/raw_temp_array
      0.type = std_msgs/Float64MultiArray
      0.desc = Provides an array of thermal value
      1.name = /teraranger_evo_thermal/rgb_image
      1.type = sensor_msgs/Image
      1.desc = Provide a color mapped image of sensor output
      2.name = /teraranger_evo_thermal/ptat
      2.type = std_msgs/Float64
      2.desc = Provide the internal temperature of the sensor
    }

    param {
        group.0 {
            name=Static Parameters
            0.name = _portname
            0.type = str, default: "/dev/ttyACM0"
            0.desc = The device path to open.
            1.name = _baudrate
            1.type = int, default: "115200"
            1.desc = Baudrate of serial connection, 1500000 if using UART backboard
        }
        group.1 {
            name=Dynamic Parameters
            0.name = thermal_image_flip_h
            0.desc = Flip Thermal Image horizontally
            0.type = bool
            0.default = False
            1.name = thermal_image_flip_v
            1.desc = Flip Thermal Image vertically
            1.type = bool
            1.default = False
            2.name = thermal_image_interpolate
            2.desc = Interpolate Thermal Image
            2.type = bool
            2.default = False
            3.name = manual_min_scaling
            3.desc = Lower scaling bound
            3.type = double_t
            3.default = 0.0
            4.name = manual_max_scaling
            4.desc = Upper scaling bound
            4.type = double_t
            4.default = 0.0
            5.name = Map
            5.desc = Set the sensor map mode
            5.type = int_t
            5.default = 3
        }
    }
}

node.3 {
    name = evo_64px
    desc = This node is the official driver for TeraRanger '''Evo 64px'''
    pub {
      0.name = /teraranger_evo_64px/point_cloud
      0.type = sensor_msgs/PointCloud2
      0.desc = Provides a point_cloud of sensor readings
      1.name = /teraranger_evo_64px/depth_image
      1.type = sensor_msgs/Image
      1.desc = Provide a colormapped image of sensor output
    }

    param {
        group.0 {
            name=Static Parameters
            0.name = _portname
            0.type = str, default: "/dev/ttyACM0"
            0.desc = The device path to open.
            1.name = _baudrate
            1.type = int, default: "115200"
            1.desc = Baudrate of serial connection, 3000000 if using UART backboard
        }
        group.1 {
            name=Dynamic Parameters
            0.name = depth_image_invert
            0.desc = Invert depth Image
            0.type = bool
            0.default = false
            1.name = depth_image_interpolate
            1.desc = Interpolate depth Image
            1.type = bool
            1.default = false
            2.name = min_distance_mm
            2.desc = Min distance allowed
            2.type = int
            2.default = 100
            3.name = max_distance_mm
            3.desc = Max distance allowed
            3.type = int
            3.default = 5000
            4.name = Mode
            4.desc = Set the sensor mode: 0 = Close Range (Allows ranging from 10cm to 5m), 1 = Fast (Allows ranging from 1m to 5m with faster update rate)
            4.type = int
            4.default = 0
        }
    }
}

node.4 {
name = one
desc = This node is the official driver for TeraRanger '''One'''
pub {
  0.name = /teraranger_one
  0.type = sensor_msgs/Range
  0.desc = Provides range reading
}

param {
 1.name = _portname
 1.type = str, default: "/dev/ttyACM0"
 1.desc = The device path to open.
}
}

node.5 {
name = duo
desc = This node is the official driver for TeraRanger '''Duo'''
pub {
  0.name = /teraranger_duo
  0.type = sensor_msgs/Range
  0.desc = Provides range reading
}
param {
  1.name = _portname
  1.type = str, default: "/dev/ttyACM0"
  1.desc = The device path to open.
}
}
}}}

== Running ==
To launch a node simply run:
{{{
rosrun teraranger name_of_the_sensor
}}}

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