ROS packages for working with Toposens 3D Ultrasound sensors: http://toposens.com/
Developed and tested for ROS Melodic on Ubuntu 18.04 (Bionic)
-
Follow this guide to install ROS on your system
-
Install missing dependencies
sudo apt install python-catkin-tools ros-melodic-rviz-visual-tools ros-melodic-code-coverage
-
Follow Section 3 of this guide to create your catkin workspace
-
Clone this repo into your catkin workspace
[email protected]:toposens/ros-projects/ts-ros.git
-
Build your workspace from inside your catkin folder
catkin build toposens
-
Make sure you are part of the dialout group:
sudo adduser $USER dialout
-
Trigger updated group permissions to take effect:
newgrp dialout
-
Launch the driver and start accruing data from a TS sensor
roslaunch toposens_driver toposens_driver.launch
-
To manipulate sensor parameters live in realtime, run in a new terminal
rosrun rqt_reconfigure rqt_reconfigure
-
Launch the markers node:
roslaunch toposens_markers toposens_markers.launch
-
To manipulate marker parameters live in realtime, run in a new terminal:
rosrun rqt_reconfigure rqt_reconfigure
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Start the driver:
roslaunch toposens_driver toposens_driver.launch
-
Launch the pointcloud in a new terminal window:
roslaunch toposens_pointcloud toposens_cloud.launch
-
To manipulate pointcloud parameters live in realtime, run in a new terminal:
rosrun rqt_reconfigure rqt_reconfigure
-
SSH into your Turtlebot's onboard computer and start the special driver node:
roslaunch toposens_driver toposens_turtlebot.launch
-
From the remote computer, launch the special pointcloud file:
roslaunch toposens_pointcloud turtlebot_cloud.launch
ROS packages for working with Toposens 3D Ultrasound sensors: http://toposens.com/
Developed and tested for ROS Melodic on Ubuntu 18.04 (Bionic)
-
Follow this guide to install ROS on your system
-
Install missing dependencies
sudo apt install python-catkin-tools ros-melodic-rviz-visual-tools ros-melodic-code-coverage
-
Follow Section 3 of this guide to create your catkin workspace
-
Clone this repo into your catkin workspace
[email protected]:toposens/ros-projects/ts-ros.git
-
Build your workspace from inside your catkin folder
catkin build toposens
-
Make sure you are part of the dialout group:
sudo adduser $USER dialout
-
Trigger updated group permissions to take effect:
newgrp dialout
-
Launch the driver and start accruing data from a TS sensor
roslaunch toposens_driver toposens_driver.launch
-
To manipulate sensor parameters live in realtime, run in a new terminal
rosrun rqt_reconfigure rqt_reconfigure
-
Launch the markers node:
roslaunch toposens_markers toposens_markers.launch
-
To manipulate marker parameters live in realtime, run in a new terminal:
rosrun rqt_reconfigure rqt_reconfigure
-
Start the driver:
roslaunch toposens_driver toposens_driver.launch
-
Launch the pointcloud in a new terminal window:
roslaunch toposens_pointcloud toposens_cloud.launch
-
To manipulate pointcloud parameters live in realtime, run in a new terminal:
rosrun rqt_reconfigure rqt_reconfigure
We assume, that the Turtlebot has been already setup once and that you know its IP address (<turtlebot_ip>
, e.g. 192.168.0.179).
-
Clone the turtlebot repos into your catkin workspace:
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
-
Build your workspace from inside your catkin folder:
catkin build turtlebot3_msgs turtlebot3
-
Get to know your own IP address:
In a terminal run
ifconfig
. In the displayed messages look forwlp4s0
and itsinet
address (<master_ip>
, e.g. 192.168.0.118) -
Add neccessary ROS parameters to your machine's bashrc (
nano ~/.bashrc
):export TURTLEBOT3_MODEL='burger' export ROS_MASTER_URI=http://<master_ip> :11311 export ROS_HOSTNAME=<turtlebot_ip>
-
SSH into your Turtlebot's onboard computer:
ssh pi@<turtlebot_ip>
-
Check and eventually adapt neccessary ROS parameters in the turtlebot's bashrc (
cat ~/.bashrc
,nano ~/.bashrc
):export TURTLEBOT3_MODEL='burger' export ROS_MASTER_URI=http://<master_ip> :11311 export ROS_HOSTNAME=<turtlebot_ip>
-
On the turtlebot start the special driver node:
roslaunch toposens_driver toposens_turtlebot.launch
-
From the remote computer, launch the special pointcloud file:
roslaunch toposens_pointcloud turtlebot_cloud.launch