w200d_sensor_kit_bringup

W200d Ultrasonic Sensor Kit Bringup

Overview

This package contains launch and config files to launch Weston Robot's W200d Ultrasonic Sensor Kit (base).

Usage

To launch the W200d Ultrasonic Sensor Kit, use the provided launch file:

ros2 launch w200d_sensor_kit_bringup sensor_kit.launch.py

Launch Files

• sensor_kit.launch.py

  Argument	Description	Default Value
  use_namespace	Whether to apply a namespace	False
  namespace	Top-level namespace	""
  robot_base	Robot base type Determines what offset to use. See offset param file	"ranger_mini"

Nodes

The package will launch the various sensors and their associated driver nodes/supporting nodes

• Description
  • Package: robot_state_publisher
  • Executable/Plugin: robot_state_publisher
  • Name: w200d_sensor_kit_state_publisher
• Ultrasonics
  • Driver
    • Package: wrp_ros2
    • Executable/Plugin: ultrasonic_sensor_node
    • Name: ultrasonic_sensor_node

Configuration

To better suit your needs/setup, you may need to adjust these accordingly

• Configuration files
• Launch files

Notes

The numbering is based on the physical sensor's position on the robot. The sensors are numbered from 0 to 7, starting from the front-facing front right sensor and going anti-clockwise.