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ROS package for converting messages from TeraRanger array solutions by Terabee

Requirements

WARNING : To be able to convert toward laser_scan and point_cloud, you need to have transforms setup correctly. The easiest is to use URDF xacros defined in the teraranger_description package:

Building and running the package from source

To clone and build the package in your workspace follow these steps:

  • If you have ssh key setup for your github account:
cd ~/ros_ws/src
git clone [email protected]:Terabee/teraranger_array_converter.git
cd ~/ros_ws
catkin_make
source devel/setup.bash
  • If you prefer to use https use this set of commands:
cd ~/ros_ws/src
git clone https://github.com/Terabee/teraranger_array_converter.git
cd ~/ros_ws
catkin_make
source devel/setup.bash

Multiple modes

There are multiple conversion modes available for the "converter_mode" parameter:

  • laser_scan
  • point_cloud
  • individual_ranges : 8 topics, 1 range per topic
  • sequential_ranges : 1 topic, 8 ranges per topic
rosrun teraranger_array_converter teraranger_array_converter _converter_mode:=<laser_scan>|<point_cloud>|<individual_ranges>|<sequential_ranges>

Topics

All these topics are local :

  • Input : /ranges
  • Outputs (depending on the mode): /laser_scan, /point_cloud, /range_0|/range_1.../range_n, /ranges

Sensor masking

You can mask sensor using the "sensor_mask" parameter :

<rosparam>
      sensor_mask: [true,false,true,false,true,false,true,false]
</rosparam>