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Package Summary

The teraranger package

  • Maintainer status: maintained
  • Maintainer: Krzysztof Żurad <krzysztof.zurad AT terabee DOT com>, Pierre-Louis Kabaradjian <pierre-louis.kabaradjian AT terabee DOT com>, Baptiste Potier <baptiste.potier AT terabee DOT com>
  • Author: Kabaradjian Pierre-Louis <pierre-louis.kabaradjian AT terabee DOT com>, Baptiste Potier <baptiste.potier AT terabee DOT com>
  • License: MIT

Github: *https://github.com/Terabee/teraranger

Supported Hardware

This package works with TeraRanger Evo 60m, TeraRanger Evo 600Hz, TeraRanger Evo 3m , TeraRanger Evo Thermal 33/90, TeraRanger Evo 64px, TeraRanger One and TeraRanger Duo. You can find more information below.

TeraRanger Evo 60m is the long range Time-of-Flight distance sensor of the TeraRanger product family. It provides calibrated distance readings in millimetres and has a range up to 60m, whilst remaining lightweight and small! Instead of laser, TeraRanger Evo uses LED technology. React faster and detect obstacles with greater assurance, TeraRanger Evo 600Hz is perfect for high-speed collision avoidance and object detection solution! With its 10cm to 3m range, 100Hz fixed update rate and greater accuracy(+/-2cm), the TeraRanger Evo 3m, is optimized for close-range distance measurement.

For more information about TeraRanger Evo 60m/Evo 600Hz/Evo 3m:

*http://www.terabee.com/portfolio-item/teraranger-evo-infrared-distance-sensor/

*https://www.terabee.com/portfolio-item/teraranger-evo-3m/

*https://www.terabee.com/portfolio-item/teraranger-evo-600hz/

*http://www.teraranger.com/product/teraranger-evo/


TeraRanger Evo Thermal 33/90 Monitor heat variations, detect movement and capture the unseen! In a compact and affordable design, ideal for OEM integration in Smart City, Smart building, Robotics and Industrial applications. For more information about TeraRanger Evo Thermal 33/90:

*https://www.terabee.com/portfolio-item/teraranger-evo-thermal/

*http://www.teraranger.com/product/teraranger-evo/


TeraRanger Evo 64px is a lightweight, high-performance multi-pixel sensor based on infrared Time-of-Flight (ToF) technology. For more information about TeraRanger Evo 64px:

*https://www.terabee.com/portfolio-item/teraranger-evo-64px-multi-pixel-time-of-flight-sensor/

*http://www.teraranger.com/product/teraranger-evo/


TeraRanger One is a lightweight, high-performance distance measurement sensor based on infrared Time-of-Flight (ToF) technology.

For more information about TeraRanger One:

*https://www.terabee.com/portfolio-item/teraranger-one/

*http://www.teraranger.com/product/teraranger-one-distance-sensor-for-drones-and-robotics/


TeraRanger Duo is a powerful surface detection solution for any environment! Combining our advanced infrared Time-of-Flight (ToF) technology with classic ultrasound technology, you’ll never again have issues detecting the proximity of difficult surfaces.

Teraranger_duo.jpg

For more information about TeraRanger Duo:

*https://www.terabee.com/portfolio-item/teraranger-duo/

*http://www.teraranger.com/product/teraranger-duo/

API Stability

The ROS API of this driver should be considered stable.

Nodes

Evo (Evo 60m/Evo 600Hz/Evo 3m)

This node is the official driver for TeraRanger Evo 60m, TeraRanger Evo 600Hz and TeraRanger Evo 3m.

Published Topics

/teraranger_evo (sensor_msgs/Range)

Parameters

_portname (str, default: "/dev/ttyACM0") _sensor_type (str, default: "Evo_60m")

Evo_Thermal

This node is the official driver for TeraRanger Evo Thermal 33/90

Published Topics

/teraranger_evo_thermal/raw_temp_array (std_msgs/Float64MultiArray) /teraranger_evo_thermal/rgb_image (sensor_msgs/Image) /teraranger_evo_thermal/ptat (std_msgs/Float64)

Parameters

Static Parameters
_portname (str, default: "/dev/ttyACM0") _baudrate (int, default: "115200")
Dynamic Parameters
thermal_image_flip_h (bool, default: False) thermal_image_flip_v (bool, default: False) thermal_image_interpolate (bool, default: False) manual_min_scaling (double_t, default: 0.0) manual_max_scaling (double_t, default: 0.0) Map (int_t, default: 3)

Evo_64px

This node is the official driver for TeraRanger Evo 64px

Published Topics

/teraranger_evo_64px/point_cloud (sensor_msgs/PointCloud2) /teraranger_evo_64px/depth_image (sensor_msgs/Image)

Parameters

Static Parameters
_portname (str, default: "/dev/ttyACM0") _baudrate (int, default: "115200")
Dynamic Parameters
depth_image_invert (bool, default: false) depth_image_interpolate (bool, default: false) min_distance_mm (int, default: 100) max_distance_mm (int, default: 5000) Mode (int, default: 0)

One

This node is the official driver for TeraRanger One

Published Topics

/teraranger_one (sensor_msgs/Range)

Parameters

_portname (str, default: "/dev/ttyACM0")

Duo

This node is the official driver for TeraRanger Duo

Published Topics

/teraranger_duo (sensor_msgs/Range)

Parameters

_portname (str, default: "/dev/ttyACM0")

Running

To launch a node simply run:

rosrun teraranger name_of_the_sensor


2018-12-08 13:29