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 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 git@github.com: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 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

Changelog for package teraranger

2.1.0 (2019-05-03)

• Update package description
• Update links in Readme
• Set 64px mode to distance+ambient on start (#23) Fix issue #22
• Add pre-release flag for travis
• Repository/add travis ci (#26)
• Merge pull request #24 from Terabee/pre-release
• Contributors: Morten Fyhn Amundsen, Pierre-Louis Kabaradjian

2.0.1 (2019-02-11)

• Prevent unintended modification on temp_array when clipping values
• Contributors: Marcin Pilch, Pierre-Louis Kabaradjian

2.0.0 (2018-12-06)

• Update roswiki and Readme file for Evo Thermal
• Fix error in Evo64 px parsing
• Add frame_id in rgb image message
• Change topic naming
• Fix rosparam default value type
• Prevent header desynchronization in Thermal driver
• Add CRC check to ACK reading
• Prevent node from sending VCP commands to UART backboard Based on baudrate speed
• Refactor Evo 64px driver
• Remove fps estimation in Evo 64px driver
• Rename python node file
• Publish temperature array
• Add publisher for PTAT
• Take into account cases when commands are failing
• Refactor colormap loading
• Add Evo Thermal driver
• Contributors: Baptiste Potier, Pierre-Louis Kabaradjian

1.3.0 (2018-10-08)

• Update maintainer list
• Update Readme for Evo 64px
• Add driver node for Evo 64px
• Contributors: Baptiste Potier, Pierre-Louis Kabaradjian

1.2.1 (2018-09-07)

• Update Readme for Evo 3m
• Add Evo 3m compatibility to the driver
• Update installation instructions in Readme
• Contributors: Baptiste Potier, Pierre-Louis Kabaradjian

1.2.0 (2018-04-13)

• Remove unecessary files
• Put the private parameters in define + correct ros info messages
• Update for evo 600Hz
• Contributors: BaptistePotier, Pierre-Louis Kabaradjian

1.1.0 (2017-11-17)

• Change license to MIT
• Put frame_id as a parameter in one, duo, and evo driver
• Update README with correct evo links
• Contributors: Pierre-Louis Kabaradjian, Baptiste Potier

1.0.1 (2017-09-20)

• Update package.xml
• Contributors: Pierre-Louis Kabaradjian

1.0.0 (2017-09-15)

• Create README.md
• Handle infinite values
• Add One and Duo support
• Fix frame dropping on 'T'
• Clean files and change to pragma once
• Implement REP 117 for teraranger duo
• Implement REP 117 for teraranger one
• Use helper lib and clean header of one
• Use helper lib and clean header of duo
• Remove old erial library files
• Update drivers to ros-serial
• Enable outdoor mode in reconfigure for one and duo
• Initialize repository
• Contributors: Pierre-Louis Kabaradjian, BaptistePotier, Mateusz Sadowski