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toposens: toposens_description | toposens_driver | toposens_markers | toposens_msgs | toposens_pointcloud | toposens_sync

Package Summary

ROS device driver for communication with TS sensors.


This package functions as a device driver for a Toposens 3D ultrasonic sensor. It can be used to setup a serial connection to the sensor, parse the received data string and publish it as a toposens_msgs/TsScan.

ROS Nodes


translates the raw datastream of a Toposens 3D ultrasonic sensor into messages of type toposens_msgs/TsScan

Published Topics

ts_scans (toposens_msgs/TsScan)


~port (std_msgs/String) ~frame_id (std_msgs/String) ~echo_rejection_threshold (int) ~noise_indicator_threshold (int) ~num_pulses (int) ~peak_detection_window (int) ~external_temperature (double) ~use_external_temperature (bool)

Most of the parameters are used by the sensors firmware and are therefore sent to the sensor via the serial port. For a more detailed description of these parameters see this tutorial.

2019-12-14 13:12