roswiki

## Repository: https://github.com/Terabee/teraranger_array
<<PackageHeader(teraranger_array)>> <<TOC(4)>>

[[https://github.com/Terabee/teraranger_array|Github repository]]

== 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 ==
{{{
#!clearsilver CS/NodeAPI
node.0 {
name = teraranger_evo
desc = 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.-----{{attachment:Hub_evo.jpg}}

pub {
  0.name = /ranges
  0.type = teraranger_array/RangeArray
  0.desc = Provides multiples ranges in an array
 
  1.name = /imu_euler
  1.type = geometry_msgs/Vector3Stamped
  1.desc = Provides imu orientations based in euler frame

  2.name = /imu_quat
  2.type = sensor_msgs/Imu
  2.desc = Provides imu orientations based in quaternions frame
}
param{
	group.0 {
    name=Static Parameters
    0.name = _portname
    0.type = str, default: "/dev/ttyACM0"
    0.desc = The device path to open.
    1.name = _baudrate
    1.type = int, default: "115200"
    1.desc = Baudrate for using the Hub Evo, 921600 if using Daughterboard
  }
  group.1 {
    name=Dynamic Parameters
    0.name = ~Rate_enum
    0.desc = Set the rate of update: 0 = ASAP, 1 = 50Hz, 2 = 100Hz, 3 = 250Hz, 4 = 500Hz, 5 = 600Hz
    0.type = int
    0.default = 2
    1.name = ~Sequence_mode_enum
    1.desc = Set the sensor firing mode: 0 = Crosstalk, 1 = Anti_crosstalk, 2 = Tower_mode
    1.type = int
    1.default = 0
    2.name = ~IMU_enum
    2.desc = Set the IMU mode: 0 = OFF, 1 = QUAT, 2 = EULER, 3 = QUATLIN
    2.type = int
    2.default = 0
    3.name = ~Sensor_type
    3.desc = Change the type of sensor: 0 = Evo_600Hz, 1 = Evo_60m, 2 = Evo_3m, 3 = Evo_mini
    3.type = int
    3.default = 1
  }
}
}

node.1 {
name = teraranger_one
desc = This node is the official driver of Teranger Tower and Teraranger Hub. It also provides dynamic reconfiguration parameters for the measurement mode.-----{{attachment:tower.jpg}}

pub {
  0.name = /ranges
  0.type = teraranger_array/RangeArray
  0.desc = Provides multiples ranges in an array
}
param{
	group.0 {
    name=Static Parameters
    0.name = _portname
    0.type = str, default: "/dev/ttyACM0"
    0.desc = The device path to open.
  }
  group.1 {
    name=Dynamic Parameters
    0.name = ~Mode
    0.desc = Change the mode of sensor: 0 = Precise, 1 = Fast, 2 = Outdoor
    0.type = int
    0.default = 0
  }
}
}

node.2 {
name = teraranger_multiflex
desc = This node is the official driver of Teranger Multiflex. It also provides dynamic reconfiguration for disabling sensors on-the-fly.-----{{attachment:multiflex.jpg}}

pub {
  0.name = /ranges
  0.type = teraranger_array/RangeArray
  0.desc = Provides multiples ranges in an array
}
param{
  group.0 {
    name=Static Parameters
    0.name = _portname
    0.type = str, default: "/dev/ttyACM0"
    0.desc = The device path to open.
  }
  group.1 {
    name=Dynamic Parameters
    0.name = ~Sensor_X
    0.desc = Deactivate sensor number X
    0.type = bool
    0.default = 0
  }
}
}
}}}


== Running ==
To launch a node simply run:
{{{
rosrun teraranger_array <teraranger_one|teraranger_multiflex> [_portname:=<device_path>]
}}}

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