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Overview

This package functions as a device driver for a Toposens 3D ultrasonic sensor. It can be used to setup a serial connection to the sensor, parse the received data string and publish it as a toposens_msgs/TsScan.

ROS Nodes

ts_driver_node

translates the raw datastream of a Toposens 3D ultrasonic sensor into messages of type toposens_msgs/TsScan

Published Topics

ts_scans (toposens_msgs/TsScan)

• The messages are published with the same rate the data is received through the serial port.

Parameters

~port (std_msgs/String)

• terminal ID that the sensor is connected to (e.g. ttyUSB0)

~frame_id (std_msgs/String)

• frame ID in which the data is published

~echo_rejection_threshold (int)

• minimum amplitude for an echo to be considered valid (sent to sensor)

~noise_indicator_threshold (int)

• normalized noise level on ADC signals to mark processed points as noisy (sent to sensor)

~num_pulses (int)

• number of ultrasonic pulses emitted in every transmission cycle (sent to sensor)

~peak_detection_window (int)

• kernel size applied on ADC signals for peak detection (sent to sensor)

~external_temperature (double)

• temperature value used to calibrate speed-of-sound (only used if use_external_temperature == true) (sent to sensor)

~use_external_temperature (bool)

• if true uses external_temperature to calibrate speed-of-sound, otherwise uses value provided by on-board temperature sensor

Most of the parameters are used by the sensors firmware and are therefore sent to the sensor via the serial port. For a more detailed description of these parameters see this tutorial.