ROS2 Driver for Cerulean Sonar S500

This package implements a ROS driver for the Cerulean Sonar S500 device. It uses the ping-python package to interface with the device.

Installing

To install the package simply clone and build like any ROS2 package. [Depends on python3-serial]

cd <sonar_ws>/src
git clone https://github.com/jackarivera/s500_ros2
cd ../
rosdep install --from-paths src --ignore-src
colcon build

Usage

Source your workspace and run the sonar node via:

Run the sonar node

ros2 run s500_sonar sonar_node

Topics / Parameters

The sonar node publishes to the /s500/sonar_range topic with a range message. It contains the min and max ranges as well as the current range.

The topic can be changed via the sonar_topic parameter.

Topics

Topic	Type	Description
/s500/sonar_range	Range	Publishes range data in mm from the s500 device

Parameters

Parameter	Default	Description
comm_type	serial	serial or udp
device_port	/dev/ttyACM0	The serial port if connected via serial-usb
baudrate	115200	The baudrate of the serial-usb connection
udp_address	0.0.0.0	The UDP address if using an ethernet connection
udp_port	12345	The UDP port if using an ethernet connection
device_id	0	The device ID to set if a different ID is necessary
ping_interval	100	The interval between pings in ms.
sonar_topic	/s500/sonar_range	Topic that range data is published to
frame	sonar_link	Frame of the sonar messages
fov	0.0872665	FOV of the sonar transmission. Not used explicitly but put here for data
speed_of_sound	1500000	Speed of sound in medium such as water in mm/s
auto_mode	true	Whether to automatically determine gain, min, and max ranges
gain	0.6	Gain of the scan when in manual mode
min_range	0	Min range of scan in mm when in manual mode
max_range	5000	Max range of scan in mm when in manual mode

License

MIT