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Only released in EOL distros:   indigo

• New Maintainer : Inovasyon Muhendislik <evarobot@inovasyonmuhendislik.com>

Nodes

evarobot_infrared

evarobot_infrared reads infrared sensors on the Evarobot and outputs range value of the sensors.

Published Topics

sensor/ir<n> (sensor_msgs/Range)

• Range of <n>th infrared sensor.

Parameters

~devicePath (string, default: /dev/spidev0.0)

• Driver path of spi.

~namespace (string, default: sensor)

• Namespace of topic.

~frameNamespace (string, default: sensor)

• Namespace of frame id.

~alwaysOn (bool, default: true)

• if false, it doesn't publish data until a node subscribes.

~spiMode (int, default: 0)

• SPI Mode.

~spiSpeed (int, default: 1000000)

• Speed of SPI.

~spiBits (int, default: 8)

• SPI bits per word.

~frequency (double, default: 10.0)

• Maximum frequency of loop.

~field_of_view (double, default: [0.01, 0.01, 0.01, 0.01])

• Vision angle of infrared sensor in radian.

~minRange (double, default: [0.0, 0.0, 0.0, 0.0])

• Minimum range of infrared sensor.

~maxRange (double, default: [0.80, 0.80, 0.80, 0.80])

• Maximum range of infrared sensor.

~channelNo (int, default: [0, 1, 2, 3])

• Channel number of infrared sensors.

~parK (double, default: [0.42, 0.42, 0.42, 0.42])

• Parameter K for converting from voltage to range.

~parA (double, default: [0.0000473, 0.0000473, 0.0000473, 0.0000473])

• Parameter A for converting from voltage to range.

~parB (double, default: [-0.0013461, -0.0013461, -0.0013461, -0.0013461])

• Parameter B for converting from voltage to range.