driver_name: neobotix_usboard
msgs_name: 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	All data published to this topic will be parsed by the driver. This should be connected to a CAN interface.

Published Topics

Message Type	Topic Name	Description
`can_msgs/Frame`	can_rx	All data published on this topic is intended to be sent to the sensor via a CAN interface.
`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.

Parameters

~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.

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