360degree - custom range finder - serial interface

tum-phoenix / phx_quadrocopter_ros

The ROS packages for the TUM Phoenix Autonomous Flight Project

3 stars 2 forks source link

360degree - custom range finder - serial interface #2

Open manuelmiermetz opened 8 years ago

manuelmiermetz commented 8 years ago

Serial interface written in cpp similar to the serial_com in the uart_msp_bridge project is needed to publish the laser scan data into ros.

manuelmiermetz commented 8 years ago

We use the msp interface without requests.

Choose an individual Protocol-byte "S". Two messages: scanner_readings: msg_code 45; uint16 distance1; uint16 distance2; uint16 index scanner_restart: msg_code 46; uint16 readings

manuelmiermetz commented 8 years ago

install arduino ide to the odroid https://www.arduino.cc/en/Main/Software and then the teensy software: https://www.pjrc.com/teensy/td_download.html otherwise the serial com seems not to work.

manuelmiermetz commented 8 years ago

5Hz only one LIDAR. continous 500Hz read-out (https://cloud.githubusercontent.com/assets/10324901/12539945/15f9066a-c2fe-11e5-80ad-bab921b9217d.png) TODO: more magnets for hall sensor TODO: use second LIDAR ;-)