ROS 2 package for Blue Robotics Ping Sonar Altimeter and Echosounder

Keywords: ROS 2, ping sonar

The source code is released under a MIT license.

Ping Sonar Altimeter and Echosounder

Clone with --recursive in order to get the necessary ping-python library:

cd dev_ws/src
git clone -b master --recursive https://github.com/tasada038/ping_sonar_ros.git
cd ~/dev_ws/src/ping_sonar_ros/ping_sonar_ros/ping-python && python3 setup.py install --user
cd ~/dev_ws
colcon build --packages-select ping_sonar_ros

Publish sonar data

. install/setup.bash
ros2 run ping_sonar_ros ping1d_node

Publish sonar data using Rviz2

. install/setup.bash
ros2 launch ping_sonar_ros ping_sonar.launch.py

The topics of the ping_sonar_ros are as follows.

$ ros2 topic list
/ping1d/param/gain
/ping1d/param/interval
/ping1d/param/mode
/ping1d/param/speed
/ping1d/range

• std_msgs.msg Float32: /ping1d/param/gain
• std_msgs.msg Float32: /ping1d/param/interval
• std_msgs.msg Float32: /ping1d/param/mode
• std_msgs.msg Float32: /ping1d/param/speed
• sensor_msgs.msg Range: /ping1d/range

The parameters for the ping_sonar_ros are as follows.

$ ros2 param list
/ping1d_node:
  gain_num
  interval_num
  mode_auto
  scan_lenght
  scan_start
  speed

• gain_num parameter range is [0 - 6] (int).
• interval_num range is [50 - 200] (int, ms).
• mode_auto range is [0 or 1].
• scan_lenght range is [2000 - 10000] (int ms). Blue Robotics Inc. default is 2000 mm.
• scan_start range is [30 - 200]. Blue Robotics Inc. default is 100 mm.
• scan_start range is [1050000 - 1550000] (int mm/s).

This action is licensed under the MIT License. This project is originally created by Blue Robotics, and maintained continuously by Takumi Asada.

Projects in .gitmodules files are covered by Blue Robotics Inc's MIT License. Other software components are licensed under this project's license.