Package Summary

The teraranger_array package for TeraRanger Array Products (Multiflex, One)

  • Maintainer status: maintained
  • Maintainer: Pierre-Louis Kabaradjian <pierre-louis.kabaradjian AT terabee DOT com>, Krzysztof Zurad <krzysztof.zurad AT terabee DOT com>, Baptiste Potier <baptiste.potier AT terabee DOT com>
  • Author: Pierre-Louis Kabaradjian <pierre-louis.kabaradjian AT terabee DOT com>, Krzysztof Zurad <krzysztof.zurad AT terabee DOT com>, Mateusz Sadowski <mateusz.sadowski AT terabee DOT com>, Baptiste Potier <baptiste.potier AT terabee DOT com>
  • License: MIT

Github repository

Supported Hardware

This package work with Teraranger Hub/Tower Evo, Teraranger Tower/Hub and Teraranger Multiflex. Please find more informatiom below :

*https://www.terabee.com/portfolio-item/teraranger-tower-evo-time-of-flight-sensors-array/

*https://www.terabee.com/portfolio-item/teraranger-hub-evo/

*https://www.terabee.com/portfolio-item/teraranger-tower/

*https://www.terabee.com/portfolio-item/teraranger-multiflex/

SHOP

*http://www.teraranger.com/product/teraranger-tower-evo/

*http://www.teraranger.com/product/teraranger-hub-evo/

*http://www.teraranger.com/product/teraranger-tower/

*http://www.teraranger.com/product/teraranger-multiflex/

API Stability

The ROS API of this driver should be considered stable.

Nodes

teraranger_evo

This node is the official driver of Teranger Hub/Tower Evo. It also provides dynamic reconfiguration parameters for the measurement mode and the sensor type.
Hub_evo.jpg

Published Topics

/ranges (teraranger_array/RangeArray)
  • Provides multiples ranges in an array
/imu_euler (geometry_msgs/Vector3Stamped)
  • Provides imu orientations based in euler frame
/imu_quat (sensor_msgs/Imu)
  • Provides imu orientations based in quaternions frame

Parameters

Static Parameters
_portname (str, default: "/dev/ttyACM0")
  • The device path to open.
_baudrate (int, default: "115200")
  • Baudrate for using the Hub Evo, 921600 if using Daughterboard
Dynamic Parameters
~Rate_enum (int, default: 2)
  • Set the rate of update: 0 = ASAP, 1 = 50Hz, 2 = 100Hz, 3 = 250Hz, 4 = 500Hz, 5 = 600Hz
~Sequence_mode_enum (int, default: 0)
  • Set the sensor firing mode: 0 = Crosstalk, 1 = Anti_crosstalk, 2 = Tower_mode
~IMU_enum (int, default: 0)
  • Set the IMU mode: 0 = OFF, 1 = QUAT, 2 = EULER, 3 = QUATLIN
~Sensor_type (int, default: 1)
  • Change the type of sensor: 0 = Evo_600Hz, 1 = Evo_60m, 2 = Evo_3m

teraranger_one

This node is the official driver of Teranger Tower and Teraranger Hub. It also provides dynamic reconfiguration parameters for the measurement mode.
tower.jpg

Published Topics

/ranges (teraranger_array/RangeArray)
  • Provides multiples ranges in an array

Parameters

Static Parameters
_portname (str, default: "/dev/ttyACM0")
  • The device path to open.
Dynamic Parameters
~Mode (int, default: 0)
  • Change the mode of sensor: 0 = Precise, 1 = Fast, 2 = Outdoor

teraranger_multiflex

This node is the official driver of Teranger Multiflex. It also provides dynamic reconfiguration for disabling sensors on-the-fly.
multiflex.jpg

Published Topics

/ranges (teraranger_array/RangeArray)
  • Provides multiples ranges in an array

Parameters

Static Parameters
_portname (str, default: "/dev/ttyACM0")
  • The device path to open.
Dynamic Parameters
~Sensor_X (bool, default: 0)
  • Deactivate sensor number X

Running

To launch a node simply run:

rosrun teraranger_array <teraranger_one|teraranger_multiflex> [_portname:=<device_path>]

Wiki: teraranger_array (last edited 2018-08-29 09:07:26 by Baptiste Potier)