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Package Summary

Released No API documentation

The teraranger_array package for TeraRanger Array Products (Multiflex, One)

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

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Contents

Supported Hardware
API Stability
Nodes
Running

Github repository

Supported Hardware

This package work with Teraranger Hub Evo, Teraranger Tower/Hub (multiple Teraranger One) and Teraranger Multiflex. Please find more informatiom below :

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

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

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

SHOP

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

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

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

API Stability

The ROS API of this driver should be considered stable.

Nodes

teraranger_evo

This node is the official driver of Teranger Hub Evo. It also provides dynamic reconfiguration parameters for the measurement mode and the sensor type.

Published Topics

/ranges (teraranger_array/RangeArray)

Provides multiples ranges in an array

Parameters

Static Parameters

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

The device path to open.

Dynamic Parameters

~Rate_enum (int, default: 2)

Set the rate of update: 0 = ASAP, 1 = 50Hz, 2 = 100Hz, 3 = 250Hz

~Sequence_mode_enum (int, default: 0)

Set the sensor firing mode: 0 = Crosstalk, 1 = Anti_crosstalk

~IMU_enum (int, default: 0)

Set the IMU mode: 0 = OFF, 1 = QUAT, 2 = EULER, 3 = QUATLIN

~Sensor_type (int, default: 1)

Change the type of sensor: 0 = Evo_600Hz, 1 = Evo_60m

teraranger_one

This node is the official driver of Teranger Tower and Teraranger Hub. It also provides dynamic reconfiguration parameters for the measurement mode.

Published Topics

/ranges (teraranger_array/RangeArray)

Provides multiples ranges in an array

Parameters

Static Parameters

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

The device path to open.

Dynamic Parameters

~Mode (int, default: 0)

Change the mode of sensor: 0 = Precise, 1 = Fast, 2 = Outdoor

teraranger_multiflex

This node is the official driver of Teranger Multiflex. It also provides dynamic reconfiguration for disabling sensors on-the-fly.

Published Topics

/ranges (teraranger_array/RangeArray)

Provides multiples ranges in an array

Parameters

Static Parameters

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

The device path to open.

Dynamic Parameters

~Sensor_X (bool, default: 0)

Deactivate sensor number X

Running

To launch a node simply run:

rosrun teraranger_array <teraranger_one|teraranger_multiflex> [_portname:=<device_path>]