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Supported Hardware

This package work with Teraranger Hub/Tower Evo, Teraranger Tower/Hub and Teraranger Multiflex. Please find more informatiom below :

*https://www.terabee.com/shop/lidar-tof-multi-directional-arrays/teraranger-tower-evo/

*https://www.terabee.com/shop/accessories/teraranger-hub-evo/

*https://www.terabee.com/shop/lidar-tof-multi-directional-arrays/teraranger-tower/

*https://www.terabee.com/portfolio-item/teraranger-multiflex/

SHOP

*https://www.terabee.com/sensors-modules/lidar-tof-multi-directional-arrays/

API Stability

The ROS API of this driver should be considered stable.

Nodes

teraranger_evo

This node is the official driver of Teranger Hub/Tower Evo. It also provides dynamic reconfiguration parameters for the measurement mode and the sensor type.

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Published Topics

/ranges (teraranger_array/RangeArray)

• Provides multiples ranges in an array

/imu_euler (geometry_msgs/Vector3Stamped)

• Provides imu orientations based in euler frame

/imu_quat (sensor_msgs/Imu)

• Provides imu orientations based in quaternions frame

Parameters

Static Parameters

_portname (str, default: "/dev/ttyACM0")

• The device path to open.

_baudrate (int, default: "115200")

• Baudrate for using the Hub Evo, 921600 if using Daughterboard

Dynamic Parameters

~Rate_enum (int, default: 2)

• Set the rate of update: 0 = ASAP, 1 = 50Hz, 2 = 100Hz, 3 = 250Hz, 4 = 500Hz, 5 = 600Hz

~Sequence_mode_enum (int, default: 0)

• Set the sensor firing mode: 0 = Crosstalk, 1 = Anti_crosstalk, 2 = Tower_mode

~IMU_enum (int, default: 0)

• Set the IMU mode: 0 = OFF, 1 = QUAT, 2 = EULER, 3 = QUATLIN

~Sensor_type (int, default: 1)

• Change the type of sensor: 0 = Evo_600Hz, 1 = Evo_60m, 2 = Evo_3m, 3 = Evo_mini

teraranger_one

This node is the official driver of Teranger Tower and Teraranger Hub. It also provides dynamic reconfiguration parameters for the measurement mode.

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Published Topics

/ranges (teraranger_array/RangeArray)

• Provides multiples ranges in an array

Parameters

Static Parameters

_portname (str, default: "/dev/ttyACM0")

• The device path to open.

Dynamic Parameters

~Mode (int, default: 0)

• Change the mode of sensor: 0 = Precise, 1 = Fast, 2 = Outdoor

teraranger_multiflex

This node is the official driver of Teranger Multiflex. It also provides dynamic reconfiguration for disabling sensors on-the-fly.

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Published Topics

/ranges (teraranger_array/RangeArray)

• Provides multiples ranges in an array

Parameters

Static Parameters

_portname (str, default: "/dev/ttyACM0")

• The device path to open.

Dynamic Parameters

~Sensor_X (bool, default: 0)

• Deactivate sensor number X

Running

To launch a node simply run:

rosrun teraranger_array <teraranger_one|teraranger_multiflex> [_portname:=<device_path>]