Overview
This package enables simultaneous use of multiple TS3 devices in a sensor system. It administers the lifecycle and ultrasonic emission characteristics of each sensor to coordinate incoming datastreams. Is is designed as a thin layer handling multiple toposens_driver::Sensor instances that individually encapsulate all the device communication and logic flow.
ROS Nodes
ts_sync_node
triggers the connected sensors alternately and polls the data from themPublished Topics
ts_scans (toposens_msgs/TsScan)- The messages are published alternately in the frames of the individual sensors.
Parameters
~ports (XmlRpc::XmlRpcValue)- array of terminal IDs that the individual sensors are connected to (e.g. ttyUSB0)
- array of frame IDs in which the data is published (element [i] is mapped to element [i] of ~ports)