This package is a collection of nodes for TeraRanger array solutions:

• TeraRanger Tower Evo
• TeraRanger Hub Evo
• TeraRanger Tower
• TeraRanger Multiflex
• TeraRanger Hub

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 git@github.com:Terabee/teraranger_array.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_array.git
cd ~/ros_ws
catkin_make
source devel/setup.bash

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.

TeraRanger Hub Evo/Tower Evo uses TeraRanger Evo 60m, TeraRanger Evo 40m, TeraRanger Evo 15m, TeraRanger Evo 600Hz or TeraRanger Evo 3m sensors for the distance measurements. To use them please run teraranger_evo node.

After your workspace is built and sourced: If you are using USB:

rosrun teraranger_array teraranger_evo _portname:=/dev/ttyACM0

If you are using UART Daughterboard:

rosrun teraranger_array teraranger_evo _portname:=/dev/ttyACM0 _baudrate:=921600

TeraRanger Tower and TeraRanger Hub uses TeraRanger One sensors for the distance measurements. To use them please run teraranger_one node.

After your workspace is built and sourced:

rosrun teraranger_array teraranger_one _portname:=/dev/ttyACM0

To use TeraRanger Multiflex please run teraranger_multiflex node.

After your workspace is built and sourced:

rosrun teraranger_array teraranger_multiflex _portname:=/dev/ttyACM0

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

rosrun rqt_reconfigure rqt_reconfigure

IMPORTANT: Please notice that for the Hub Evo you are able to set the sensor type of each sensor (Evo 60m, Evo 40m, Evo 15m, Evo 600Hz, Evo 3m or Evo Mini) with a dynamic_reconfigure for each port

By default sensors are set to Evo 60m type.