Overview

ROS packages for working with Toposens 3D Ultrasound sensors: http://toposens.com/

Developed and tested for ROS Melodic on Ubuntu 18.04 (Bionic)

Setup

For Ubuntu 18.04 (and maybe other versions)

• 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

Building

• Follow Section 3 of this guide to create your catkin workspace

• Clone this repo into your catkin workspace

  git@gitlab.com:toposens/public/ros-packages.git

• Build your workspace from inside your catkin folder

  catkin build toposens

Running

Launching the Driver

• 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

Launching the Markers

• 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

Launching the Pointcloud

• 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

Turtlebot Integration

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 for wlp4s0 and its inet 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