Sensor-drivers and connection to ROS2 architecture ROS2 Galactic.
This is a continuation of a previous groups code for developing sensors to work underwater with the BlueRobotics BlueROV-2. Link to the original code: https://github.com/NathanLec/Sensors_drivers_BROV2
For a quick use, paste these commands More details for each command come after
cd dev_ws/
git clone https://github.com/JoJoHTM/Sensors_drivers_BROV2
sudo mv -v Sensors_drivers_BROV2/src/* src/
sudo rm -r Sensors_drivers_BROV2/src/
sudo mv -v Sensors_drivers_BROV2/* .
python3 init.py
. install/setup.bash
ros2 launch launch/sensor.launch.py
Go in the dev_ws/ folder Import all the files with the command
git clone https://github.com/JoJoHTM/Sensors_drivers_BROV2
Move the content of the src file if you already have one in the folder
sudo mv -v Sensors_drivers_BROV2/src/* src/
sudo rm -r Sensors_drivers_BROV2/src/
sudo mv -v Sensors_drivers_BROV2/* .
Build all the packages with init.py
python3 init.py
Source the setup files
. install/setup.bash
Launch the publishers
ros2 launch launch/sensor.launch.py
To remove all of the files, go in dev_ws/ and paste this command
sudo rm -r launch/ src/sensor_* README.md LICENSE Sensors_drivers_BROV2/
A lot of the comments made in the files of "sensor_thermometer" folder can be applied to the code for the other sensors. Because of this the comments for the temperature code is more detailed than for the other sensors.
There have been some issues regarding the hardware for battery sensing, hence the code not being finished. Though it may not be finished, a lot of the setup is fixed. What mainly needs to be done is fill in the code in "battery_data_publisher_node.py", as well as making necessary adjustments in "init.py" and launch file.
Sensors used in this project:
- Barometer: Blue Robotics BAR30
- Thermometer: Blue Robotics Celsius Fast-Response
- Dissolved Oxygen probe: Atlas Scientific
- Connductivity probe: Atlas Scientific
Heavily based on the MS5837 library mentioned under Libraries. Remember to enable I2C on the Raspberry Pi and connect on the correct pins!
Heavily based on the TSYS01 library mentioned under Libraries. Remember to enable I2C on the Raspberry Pi and connect on the correct pins!
Based on a new library, called DOATLAS01, which was created with an heavily base on the TSYS01 library mentioned under Libraries. Remember to enable I2C on the Raspberry Pi and connect on the correct pins!
Based on a new library, called CATLAS01, which was created with an heavily base on the TSYS01 library mentioned under Libraries. Remember to enable I2C on the Raspberry Pi and connect on the correct pins!