Package: triorb_obstacle_sensor

Subscriber

IMUセンサの再起動

  • Topic: (prefix)/reboot/sensor/imu
  • Type: std_msgs/msg/Empty
  • Usage:

距離センサの再起動

  • Topic: (prefix)/reboot/sensor/distance
  • Type: std_msgs/msg/Empty
  • Usage:

距離センサによる減速措置を開始する距離閾値の設定

  • Topic: (prefix)/set/sensor/threshold
  • Type: std_msgs/msg/Float32
  • Note：確実に変更するために複数回の実行を推奨
  • Usage: 
    root@orin-nx-XXX:~/$ ros2 topic pub -1 /set/sensor/threshold std_msgs/msg/Float32 "data: 0.5"

Publisher

IMUセンサ値

  • Topic: (prefix)/sensor/imu
  • Type: triorb_sensor_interface/msg/ImuSensor
  • Frequency: 1/(0.02 - 0.04) Hz
  • Usage: 
    root@orin-nx-XXX:~/$ ros2 topic echo --once /distance0
header:
stamp:
  sec: 1709086507
  nanosec: 347647639
frame_id: id01
distance: 1.225
confidence: 100

    距離センサ値

  • Topic: (prefix)/sensor/distance
  • Type: triorb_sensor_interface/msg/DistanceSensor
  • Frequency：1/(0.02 - 0.04) Hz
  • Usage: ```bash root@orin-nx-XXX:~/$ ros2 topic echo /sensor/distance — header: stamp: sec: 1717053814 nanosec: 932199978 frame_id: irFR distance: 1.0709999799728394 confidence: 0 hfov: 13.5 vfov: 13.5 max_dist: 3.094062566757202 min_dist: 0.009999999776482582 mount_xyz:
  • 0.10999999940395355
  • 0.22759999334812164
  • 0.11900000274181366 mount_ypr:
  • 0.0
  • 0.0

  • 0.0

    header: stamp: sec: 1717053814 nanosec: 935458144 frame_id: irR distance: 0.3610000014305115 confidence: 0 hfov: 13.5 vfov: 13.5 max_dist: 3.3688902854919434 min_dist: 0.009999999776482582 mount_xyz:

  • 0.24269999563694
  • 0.03150000050663948
  • 0.12200000137090683 mount_ypr:
  • 90.0
  • 0.0

  • 0.0

    header: stamp: sec: 1717053814 nanosec: 935918224 frame_id: irB distance: 2.065999984741211 confidence: 0 hfov: 13.5 vfov: 13.5 max_dist: 3.1961989402770996 min_dist: 0.009999999776482582 mount_xyz:

  • 0.07000000029802322
  • 0.2680000066757202
  • 0.12200000137090683 mount_ypr:
  • 180.0
  • 0.0

  • 0.0

    header: stamp: sec: 1717053814 nanosec: 945622608 frame_id: irFL distance: 2.818000078201294 confidence: 0 hfov: 13.5 vfov: 13.5 max_dist: 3.1126694679260254 min_dist: 0.009999999776482582 mount_xyz:

  • -0.10999999940395355
  • 0.22759999334812164
  • 0.11900000274181366 mount_ypr:
  • 0.0
  • 0.0

  • 0.0

    ```

センサデバイス接続エラー

  • Topic: (prefix)/error/sensor
  • Type: std_msgs/msg/Empty
  • Usage: