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Overview

This package contains nodes to enable the use of Toposens ECHO ONE sensor within ROS. Data will be published as toposens_msgs/TsScan.

ROS Nodes

toposens_echo_driver_node

Communicates with the Toposens Sensor Library and publishes ECHO ONE point clouds as toposens_msgs/TsScan.

Published Topics

ts_scans (toposens_msgs/TsScan)

• Point cloud with additional header information and XYZIC points (x, y, z, intensity, confidence).

Parameters

~com_interface (std_msgs/String)

• whether to use CAN or UART connection for ECHO ONE

~can_device (std_msgs/String)

• CAN interface to use

~uart_device (std_msgs/String)

• UART port to use

~loop_rate (double)

• Spin rate of the ros node (for single shot mode)

~scans_topic (std_msgs/String)

• Topic to publish point cloud to.

~sensor_mode (std_msgs/String)

• Run the sensor in single-shot or continuous mode (options: [single_shot, continuous]).

~frame_id (std_msgs/String)

• Base frame ID in which the data is published.

~target_frame (std_msgs/String)

• Point cloud will be published with this prefix (e.g. toposens_ + sensor ID)

~wait_for_transform (double)

• Wait until transforms are available.

~drop_single_sensor_transform_id (bool)

• When using single sensor the ID can be omitted in the published transform between sensor-frame and toposens-base-link

~respawn (bool)

• Restart node again if it crashes.

~write_cfg_to_sensor (bool)

• Configure the sensor at startup with values from the parameter yaml file.

~transducer/volume (int)

• Transducer amplitude (percentage)

~transducer/num_pulses (int)

• Electrical pulses that the piezo transmitter is stimulated with in every transmission cycle.

~transducer/transducer_noise_threshold (double)

• Threshold to filter noise during signal processing on sensor.

~transducer/transducer_noise_ratio (int)

• Deprecated filter on sensor to determine echo quality. Set to 100 to disable.

~signal_processing/temperature (double)

• Environment temperature used for speed of sound calculations.

~sensor/slp_dur_pulses (double)

• Adds sleep after each measurement in ROS node. [experimental]

~sensor/near_field_enabled (bool)

• Activate the sensor's near field detection. [experimental]

~sensor/near_field_threshold_phase_deviations (double)

• Parameter for near field detection. [experimental]

~sensor/noise_threshold (int)

• Mark frames as noisy based on sensor noise level. [experimental]

~sensor/enable_auto_gain (bool)

• Dynamically adjust signal amplification to avoid clipping or too quiet echoes.

request_adc_dump

Service to request adc dump from sensor.

Parameters

sensor_id (std_msgs/String)

• ID of the sensor to request the dump from.

file_path (std_msgs/String)

• File path to save the ADC dump to.