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

• 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

TeraRanger Hub Evo uses TeraRanger Evo 60m or TeraRanger Evo 600Hz sensors for the distance measurements. To use them please run teraranger_evo node.

After your workspace is built and sourced:

rosrun teraranger_array teraranger_evo _portname:=/dev/ttyACM0

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 or Evo 600Hz) with a dynamic_reconfigure for each port

By default Evo 60m are set on the Hub.