ROS package for TeraRanger modules

This package is a collection of nodes for TeraRanger single sensor modules.

• TeraRanger Evo Thermal 33/90
• TeraRanger Evo 64px
• TeraRanger Evo 60m
• TeraRanger Evo 600Hz
• TeraRanger Evo 3m
• TeraRanger One
• TeraRanger Duo

Link to ROS Wiki package documentation: Here

Dependencies

This package depends on this serial library. To get it, execute the following command:

sudo apt-get install ros-<your_distro>-serial

where <your_distro> is your ROS distribution (e.g. kinetic, lunar, indigo).

If it's not available for your distribution, clone https://github.com/wjwwood/serial into your workspace, then build and source your workspace.

Installing the package

Installing from PPAs

You can install the teraranger package by running the command:

sudo apt-get install ros-kinetic-teraranger

Building and Running the package from source

To clone and build the package in your workspace follow these steps:

• If you have ssh key setup for your github account:

cd ~/ros_ws/src
git clone [email protected]:Terabee/teraranger.git
cd ~/ros_ws
catkin_make
source devel/setup.bash

• If you prefer to use https use this set of commands:

cd ~/ros_ws/src
git clone https://github.com/Terabee/teraranger.git
cd ~/ros_ws
catkin_make
source devel/setup.bash

Running the TeraRanger Evo Thermal 33/90

After your workspace is built and sourced:

rosrun teraranger evo_thermal.py _portname:=/dev/ttyACM0

This node is publishing on two topics:

• /teraranger_evo_thermal/rgb_image: a color mapped RGB image based on thermal data
• /teraranger_evo_thermal/raw_temp_array: an array of 1024 raw thermal data
• /teraranger_evo_thermal/ptat: internal temperature of the sensor

Running the TeraRanger Evo 64px

After your workspace is built and sourced:

rosrun teraranger evo_64px.py _portname:=/dev/ttyACM0

This node is publishing on two topics:

• /teraranger_evo_64px/depth_image: a colormapped RGB image based on depth data
• /teraranger_evo_64px/point_cloud: a point cloud in the frame of the sensor

Running the TeraRanger Evo 60m

After your workspace is built and sourced:

rosrun teraranger evo _portname:=/dev/ttyACM0 _sensor_type:=Evo_60m

Running the TeraRanger Evo 600Hz

After your workspace is built and sourced:

rosrun teraranger evo _portname:=/dev/ttyACM0 _sensor_type:=Evo_600Hz

Running the TeraRanger Evo 3m

After your workspace is built and sourced:

rosrun teraranger evo _portname:=/dev/ttyACM0 _sensor_type:=Evo_3m

WARNING: By default, if no sensor_type is specified, the default sensor chosen is the Evo 60m

Running the TeraRanger One

After your workspace is built and sourced:

rosrun teraranger one _portname:=/dev/ttyACM0

Running the TeraRanger Duo

After your workspace is built and sourced:

rosrun teraranger duo _portname:=/dev/ttyACM0

Changing Sensor Parameters

You can change the mode of the sensors by running rqt_reconfigure:

rosrun rqt_reconfigure rqt_reconfigure

Displaying Sensor Information

When the teraranger node is running in a new terminal window execute:

rostopic list

to see list of available topics. If the teraranger node is running and the sensor is connected to your PC you should see topics starting with /teraranger.

To display the messages arriving on the topic run the following command in a terminal:

rostopic echo /teraranger_<sensor_name>

where <sensor_name> is the name of your sensor (e.g. one, evo).

Product pictures and where to get the sensors

TeraRanger Evo Thermal 33/90

Information
Product page Evo Thermal 33/90
Specification sheet
Online shop

TeraRanger Evo 64px

Information
Product page Evo 64px
Specification sheet
Online shop

TeraRanger Evo 3m

Information
Product page Evo 3m
Specification sheet
Online shop

TeraRanger Evo 60m/Evo 600Hz

Information
Product page Evo 60m / Product page Evo 600Hz
Specification sheet
Online shop

TeraRanger One

Information
Product page
Specification sheet
Online shop

TeraRanger Duo

Information
Product page
Specification sheet
Online shop