Commit 4c7cca4e authored by Anas Mazouni's avatar Anas Mazouni
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Documentation V0.1

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# ping360_sonar
ROS package for Blue Robotics Ping360 Sonar
## Overview
A python ROS package for the [BlueRobotics] [Ping360] Sonar. The package has been tested under [ROS] melodic and Ubuntu 16.04. This code is mostly experimental, expect that it changes often.
**Keywords:** ROS, package, ping360
### License
The source code is released under a [MIT license](LICENSE).
## Installation
### Building from Source
#### Dependencies
- [Robot Operating System (ROS)](http://wiki.ros.org) (middleware for robotics),
- opencv
- [cv_bridge]
#### 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/CentraleNantesRobotics/ping360_sonar_python.git
cd ../
catkin build
### Unit Tests
TODO
## Usage
An example launch file has been provided [example.launch](launch/example.launch):
Run the main node with:
roslaunch ping360_sonar example.launch
## Launch files
* **example.launch:** contains the default parameteres to run the Ping360 Sonar, including the serial port and the baudrate to interface with the sonar. The rest of the parameters are documented here: [Ping360 Documentation](https://docs.bluerobotics.com/ping-protocol/pingmessage-ping360/)
## Nodes
### ping360_node
Creates a black and white OpenCv image using the date received from the sonar. Same as the one generated by the ping viewer.
#### Published Topics
* **`/ping360_sonar`** ([sensor_msgs/Image])
The generated sonar image.
## Bugs & Feature Requests
Please report bugs and request features using the [Issue Tracker](https://github.com/CentraleNantesRobotics/ping360_sonar_python/issues).
[ROS]: http://www.ros.org
[BlueRobotics]: http://bluerobotics.com
[cv_bridge]: http://wiki.ros.org/cv_bridge
[sensor_msgs/Image]: http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Image.html
[Ping360]: https://bluerobotics.com/store/sensors-sonars-cameras/sonar/ping360-sonar-r1-rp/
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