A ROS 2 package for the BlueRobotics Ping360 Sonar. This code is being developped for Foxy. Tested in ROS2 Humble.
Keywords: ROS 2, ping360
The source code is released under a MIT license.
- Robot Operating System (ROS) 2 (middleware for robotics),
- deployment branch of ping-cpp, for the C++ node as a submodule
- deployment branch of ping-python, for the Python node as a package to install
- image_transport for the C++ node
Clone with --recursive in order to get the necessary ping-cpp library:
cd ros2_workspace/src
git clone https://github.com/JetSeaAI/ping360_sonar.git -b ros2 --recursive
cd ../..
colcon build --symlink-install --packages-select ping360_sonar
Run the following command to add your user to the dialout group:
sudo usermod -a -G dialout $USER
You may need to logout and login or reboot to take effect.
You can verify that your user has been added to the dialout group by running:
groups $USER
The package provides both C++ and Python nodes, they share the same ROS API and expose the same capabilities.
- C++ version:
ros2 run ping360_sonar ping360_node - Python:
ros2 run ping360_sonar ping360.py
The package can emulates a sonar for testing when node can't find sonar, this may useful when early test. To disable it, see fallback_emulated in Parameters
The package provides launch files for ease of use and configuration.
- C++ version:
ros2 launch ping360_sonar ping360_bringup.launch.py - Python:
ros2 launch ping360_sonar ping360_bringup_py.launch.py
While continuously rotating the sonar in a set field of view (defined by the min and max angle parameters in gradians), it may publishes three types of messages:
- The raw response data (the echo intensities for a given angle & range)
- A LaserScan msg with ranges detected using a certain intensity threshold:
- A black and white image using the data received from the sonar. Same as the one generated by the ping viewer.
The rotation of the sonar is only limited by the maximum range (hence the echo maximum duration). Images are updated at this rate even if they are actually published at a lower rate.
-
scan_image([sensor_msgs/Image])The generated sonar image in gray level. Each pixel is filled depending on the range and angular step of the sonar. This topic can be toggled using the publish_image parameter. The C++ node uses image_transport while the Python one publishes raw images.
-
echo(msg/SonarEcho)Publishes the raw sonar data in a custom message:
Header header #header info float32 angle # the measurement angle [rad] uint8 gain # Sonar Gain uint16 number_of_samples uint16 transmit_frequency # [kHz] uint16 speed_of_sound # [m/s] uint8 range # range value [m] uint8[] intensities # intensity data [0-255]. This is the actual data received from the sonarThis topic can be toggled using the publish_echo parameter.
-
scan(sensor_msgs/LaserScan)Publishes a LaserScan msg with ranges detected above a certain intensity threshold (0-255). The intensities of the message are scaled down to (0,1). This topic can be toggled using the publish_scan parameter.
The list below corresponds to the output of ros2 param describe for all ping360 parameters:
angle_sector- Type: integer
- Description: Scanned angular sector around sonar heading [degrees]. Will oscillate if not 360
- Default value: 360 [60..360]
angle_step- Type: integer
- Description: Sonar angular resolution [degrees]
- Default value: 1 [1..20]
baudrate(only used in serial connection)- Type: integer
- Default value: 115200
connection_type- Type: string
- Description: Indicates if connection is serial or udp
- Default value: serial
device(only used in serial connection)- Type: string
- Default value: /dev/ttyUSB0
fallback_emulated- Type: boolean
- Description: Emulates a sonar if Ping360 cannot be initialized
- Default value: True
frame- Type: string
- Description: Frame ID of the message headers
- Default value: sonar
frequency- Type: integer
- Description: Sonar operating frequency [kHz]
- Default value: 740 [650..850]
gain- Type: integer
- Description: Sonar gain (0 = low, 1 = normal, 2 = high)
- Default value: 0 [0..2]
image_rate- Type: integer
- Description: Image publishing rate [ms]
- Default value: 100 [50..2000]
image_size- Type: integer
- Description: Output image size [pixels]
- Default value: 300 [100..2..1000]
publish_echo- Type: boolean
- Description: Publish raw echo on 'scan_echo'
- Default value: False
publish_image- Type: boolean
- Description: Publish images on 'scan_image'
- Default value: True
publish_scan- Type: boolean
- Description: Publish laserscans on 'scan'
- Default value: False
range_max- Type: integer
- Description: Sonar max range [m]
- Default value: 2 [1..50]
scan_image.format- Type: string
- Description: Compression method
- Default value: jpeg
scan_image.jpeg_quality- Type: integer
- Description: Image quality for JPEG format
- Default value: 95 [1..100]
scan_image.png_level- Type: integer
- Description: Compression level for PNG format
- Default value: 3 [0..9]
scan_threshold- Type: integer
- Description: Intensity threshold for LaserScan message
- Default value: 200 [1..255]
speed_of_sound- Type: integer
- Description: Speed of sound [m/s]
- Default value: 1500 [1450..1550]
sonar_timeout- Type: integer
- Description: Sonar timeout [ms]
- Default value: 8000 [0...20000]
udp_address(only used in udp connection)- Type: string
- Default value: 0.0.0.0
udp_port(only used in udo connection)- Type: integer
- Default value: 12345
Most the parameters can be updated during execution, except baudrate, device, frame, image_rate and fallback_emulated.
Please report bugs and request features using the Issue Tracker.
 Olivier Kermorgant 💻 |
 Henrique Martinez Rocamora 💻 |
 Anas Mazouni 💻 |
 tomlogan501 🤔 |
 Alexis Fetet 💻 |
 Jonathan Delacoux 💻 |
 Gustavo Rezende 💻 |
This project follows the all-contributors specification.
Contributions of any kind welcome! Please refer to our Contribution Guide