<> <> == 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 <>. == ROS Nodes == {{{ #!clearsilver CS/NodeAPI name = ts_driver_node desc = translates the raw datastream of a Toposens 3D ultrasonic sensor into messages of type <> pub { 0.name = ts_scans 0.type = toposens_msgs/TsScan 0.desc = The messages are published with the same rate the data is received through the serial port. } param { 0.name = ~port 0.type = std_msgs/String 0.desc = terminal ID that the sensor is connected to (e.g. ttyUSB0) 1.name = ~frame_id 1.type = std_msgs/String 1.desc = frame ID in which the data is published 2.name = ~echo_rejection_threshold 2.type = int 2.desc = minimum amplitude for an echo to be considered valid (sent to sensor) 3.name = ~noise_indicator_threshold 3.type = int 3.desc = normalized noise level on ADC signals to mark processed points as noisy (sent to sensor) 4.name = ~num_pulses 4.type = int 4.desc = number of ultrasonic pulses emitted in every transmission cycle (sent to sensor) 5.name = ~peak_detection_window 5.type = int 5.desc = kernel size applied on ADC signals for peak detection (sent to sensor) 6.name = ~external_temperature 6.type = double 6.desc = temperature value used to calibrate speed-of-sound (only used if use_external_temperature == true) (sent to sensor) 7.name = ~use_external_temperature 7.type = bool 7.desc = 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 [[toposens/Tutorials/Getting Started with the TS3|this tutorial]]. ## AUTOGENERATED DON'T DELETE ## CategoryPackage