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Overview

This package enables conversion of messages of type toposens_msgs/TsScan into messages of type sensor_msgs/PointCloud2.

Surface Normals

Due to the specular reflection behavior of ultrasound, the surface normal of the detected object can be represented by a vector pointing from the detected point towards the sensor’s position while the point was recorded. This normal vector is added to the PointCloud representation. For a more detailed explanation of the physics behind Toposens sensors see Physics of 3D Ultrasonic Sensors.

ROS Nodes

ts_cloud_node

translates messages of type toposens_msgs/TsScan into messages of type sensor_msgs/PointCloud2. Also logs the PointCloud into a pcd file.

Subscribed Topics

ts_scans (toposens_msgs/TsScan)

• the scans that are published by the toposens_driver (name of the topic is a parameter)

Published Topics

ts_cloud (sensor_msgs/PointCloud2)

• the PointCloud of type: PointXYZINormal that is created by accumulating the Toposens sensor data

ts_cloud_normals (invalid message type for MsgLink(msg/type))

• markers that visualize the the normal vectors of the points in the PointCloud

Parameters

~scans_topic (std_msgs/String)

• topic name to listen for TsScan data

~target_frame (std_msgs/String)

• frame ID in which the data is published

~pcd_save_interval (int)

• interval after which PointCloud is stored to pcd file (set to zero for non logging the PointCloud)

~pcd_path (std_msgs/String)

• path where pcd file should be stored

~lifetime_normals_vis (float)

• lifetime for markers that visualize normal vectors (set to zero for not publishing the markers)