driver_name: neobotix_usboard | neobotix_usboard_msgs
A ROS driver to support communication with the Neobotix USBoard ultrasonic kit.
Supported Hardware
- Neobotix USBoard with Bosch Parkpilot URF6/URF7/USS4 Ultrasonic Sensors
Subscribed Topics
| Message Type | Topic Name | Description |
|---|---|---|
can_msgs/Frame | can_tx | A copy of all raw CAN data received by the driver from the USBoard. |
can_msgs/Frame | can_rx_echo | A copy of all raw CAN data sent from the driver to the USBoard. |
neobotix_usboard_msgs/Data1to4 | parsed_tx/usboard_data1to4 | Raw sensor values, warnings, and alerts generated by connected ultrasonics 1 through 4. |
neobotix_usboard_msgs/Data5to8 | parsed_tx/usboard_data5to8 | Raw sensor values, warnings, and alerts generated by connected ultrasonics 5 through 8. |
| neobotix_usboard_msgs/Data9to12 | parsed_tx/usboard_data9to12 | Raw sensor values, warnings, and alerts generated by connected ultrasonics 9 through 12. |
neobotix_usboard_msgs/Data13to16 | parsed_tx/usboard_data13to16 | Raw sensor values, warnings, and alerts generated by connected ultrasonics 13 through 16. |
visualization_msgs/MarkerArray | as_tx/sonar_markers | Visualization information for RViz based on data abstracted from the raw ultrasonic readings. |
Published Topics
| Message Type | Topic Name | Description |
|---|---|---|
can_msgs/Frame | can_rx | Will forward any raw CAN messages published to this topic directly to the USBoard. |
Parameters
~can_hardware_id
The serial number of the Kvaser device.
~can_circuit_id
The 0-based index of the channel on the Kvaser device.
~can_baud_rate
The speed, in bits/sec, at which the driver should connect to the device over CAN.
~can_basic_address
The decimal representation of the base address used for the CAN messages coming from the device.
~can_use_extended
A boolean value indicating whether or not the device has been configured to use extended (29-bit) CAN IDs. If set to false, it will use basic (11-bit) IDs instead.
~tx_rate
The rate, in seconds, at which the sensor will produce the data from the attached sensors. Valid values are: 0.5, 1.0, and 2.0.
~sensor_frame_id
The id of the frame of reference of the sensor. This will be attached to all published messages.
~warn_distance
The distance, in cm, at which a warning will be triggered on any ultrasonic sensor. Valid values are 0-255.
~alarm_distance
The distance, in cm, at which an alarm will be triggered by any ultrasonic sensor. Valid values are 0-255.