Sensor-drivers and connection to ROS2 architecture ROS2 Humble.
This is a continuation of two previous projects for developing sensors to work underwater both as a Standalone Underwater Monitoring Station (SUMS) and for a mobile sensing rig mounted on a BlueRobotics BlueROV-2.
Link to the first original code: https://github.com/NathanLec/Sensors_drivers_BROV2
Link to the second original code: https://github.com/JoJoHTM/Sensors_drivers_BROV2
For a quick use, paste these commands More details for each command come after
git clone https://github.com/Pederbs/SUMS
python3 init.py
. install/setup.bash
ros2 launch launch/sensor.launch.py
Open a terminal window in the folder where you want to locate the program. Import all the files with the command (this will create a folder named SUMS/ with the program)
git clone https://github.com/Pederbs/SUMS
Build all the packages with init.py
python3 init.py
Source the setup files
. install/setup.bash
Launch the all nodes (sensor.launch.py contains parameters that can be changed by the user)
ros2 launch launch/sensor.launch.py
To remove all of the files, go in the parent folder and paste this command
sudo rm -r SUMS
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
- Conductivity probe: Atlas Scientific
- Power Sense Module: BlueRobotics
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!
more info to come