ysi_exo

Driver for the YSI EXO sondes that interface with the computer through the signal output adapter (v1 or v2), via RS232.

License

This project is licensed under the MIT License - see the LICENSE file for details

Dartmouth Reality and Robotics Lab

Authors: Alberto Quattrini Li - Dartmouth College.

Installation

After following the instructions for the hardware setup, available in the manual from YSI, the following will set the environment to make the ROS driver running. ysi_exo has been tested under ROS melodic and Ubuntu 18.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Dependencies

• Robot Operating System (ROS) (middleware for robotics),

• minimalmodbus API for MODBUS.

    sudo pip install minimalmodbus
  

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/dartmouthrobotics/ysi_exo.git
cd ../
catkin_make

Usage

You can run the node with (the default values are for the DCP Modbus)

roslaunch ysi_exo ysi_exo.launch

Nodes

sonde

Publishes sonde measurements.

Published Topics

• sonde ([ysi_exo/Sonde])

  Custom message that includes all parameters recorded.