ROS package for TeraRanger modules

This package is a collection of nodes for TeraRanger single sensor modules.

• TeraRanger Evo Mini
• TeraRanger Evo Thermal 33/90
• TeraRanger Evo 64px
• TeraRanger Evo 60m
• TeraRanger Evo 40m
• TeraRanger Evo 15m
• TeraRanger Evo 3m
• TeraRanger One
• TeraRanger Duo

Link to ROS Wiki package documentation: Here

Dependencies

This package depends on this serial library. To get it, execute the following command:

sudo apt-get install ros-<your_distro>-serial

where <your_distro> is your ROS distribution (e.g. kinetic, lunar, indigo).

If it's not available for your distribution, clone https://github.com/wjwwood/serial into your workspace, then build and source your workspace.

Installing the package

Installing from PPAs

You can install the teraranger package by running the command:

sudo apt-get install ros-kinetic-teraranger

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.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.git
cd ~/ros_ws
catkin_make
source devel/setup.bash

Running the TeraRanger Evo Mini

After your workspace is built and sourced:

rosrun teraranger evo_mini _portname:=/dev/ttyACM0

This node is publishing on two topics:

• /teraranger_evo_mini/range: Range message when the sensor is in single-pixel mode
• /teraranger_evo_mini/ranges: RangeArray (from teraranger_array package) message with multiple ranges when the sensor is in multi-pixel mode

Running the TeraRanger Evo Thermal 33/90

After your workspace is built and sourced:

rosrun teraranger evo_thermal.py _portname:=/dev/ttyACM0

This node is publishing on two topics:

• /teraranger_evo_thermal/rgb_image: a color mapped RGB image based on thermal data
• /teraranger_evo_thermal/raw_temp_array: an array of 1024 raw thermal data
• /teraranger_evo_thermal/ptat: internal temperature of the sensor

Running the TeraRanger Evo 64px

After your workspace is built and sourced:

rosrun teraranger evo_64px.py _portname:=/dev/ttyACM0

This node is publishing on two topics:

• /teraranger_evo_64px/depth_image: a colormapped RGB image based on depth data
• /teraranger_evo_64px/point_cloud: a point cloud in the frame of the sensor

Running the TeraRanger Evo 60m

After your workspace is built and sourced:

rosrun teraranger evo _portname:=/dev/ttyACM0 _sensor_type:=Evo_60m

Running the TeraRanger Evo 40m

After your workspace is built and sourced:

rosrun teraranger evo _portname:=/dev/ttyACM0 _sensor_type:=Evo_40m

Running the TeraRanger Evo 15m

After your workspace is built and sourced:

rosrun teraranger evo _portname:=/dev/ttyACM0 _sensor_type:=Evo_15m

Running the TeraRanger Evo 600Hz

After your workspace is built and sourced:

rosrun teraranger evo _portname:=/dev/ttyACM0 _sensor_type:=Evo_600Hz

Running the TeraRanger Evo 3m

After your workspace is built and sourced:

rosrun teraranger evo _portname:=/dev/ttyACM0 _sensor_type:=Evo_3m

WARNING: By default, if no sensor_type is specified, the default sensor chosen is the Evo 60m

Running the TeraRanger One

After your workspace is built and sourced:

rosrun teraranger one _portname:=/dev/ttyACM0

Running the TeraRanger Duo

After your workspace is built and sourced:

rosrun teraranger duo _portname:=/dev/ttyACM0

Changing Sensor Parameters

You can change the mode of the sensors by running rqt_reconfigure:

rosrun rqt_reconfigure rqt_reconfigure

Displaying Sensor Information

When the teraranger node is running in a new terminal window execute:

rostopic list

to see list of available topics. If the teraranger node is running and the sensor is connected to your PC you should see topics starting with /teraranger.

To display the messages arriving on the topic run the following command in a terminal:

rostopic echo /teraranger_<sensor_name>

where <sensor_name> is the name of your sensor (e.g. one, evo).

Product pictures and where to get the sensors

TeraRanger Evo Mini

TeraRanger Evo Thermal 33/90

TeraRanger Evo 64px

TeraRanger Evo 3m

TeraRanger Evo 60m/Evo 40m/Evo 15m

TeraRanger One

TeraRanger Duo