This repository consists of test code for interfacing with the GILL wind sensor, converting it from RS232 messages to ros2 messages.
| Pin Number | Pinout | Cable Colour | Purpose | Connection |
|---|---|---|---|---|
| 1 | A | Green | Sig Gnd | RS232 Pin5 |
| 2 | F | Orange | V- | GND |
| 3 | B | Brown | V+ | 12V |
| 4 | - | - | - | - |
| 5 | C | Orange White | TXD | RS232 Pin2 |
| 6 | - | - | - | - |
| 7 | E | Green White | RXD | RS232 Pin3 |
| 8 | - | - | - | - |
| 9 | - | - | - | - |
Pins numbers are in reference to the 9-pin connector leading out of the wind sensor, in accordance to the datasheet which can be found here. Pinout are with reference to the pins leading out towards the 6-pin connector on the side of the ASV.
Certain pins are not used.
This helps to set a fixed port to read data from the wind sensor from to prevent dynamic allocation of USB ports from affecting wind sensor operation. Currently this only supports use of the FTDI RS232-USB converter (white and blue one).
Place the file 50-usb-serial.rules into the folder /etc/udev/rules.d/. From this folder you can run the following command to do this:
sudo cp 50-usb-serial.rules ~/etc/udev/rules.d
Afterwards, run the following command to activate the rule. Alternatively you can reboot the computer. The rule will automatically activate upon boot up in the future.
sudo udevadm trigger
If you do not yet have it installed, install Python using the following command.
sudo apt install python3.10
This code uses the PySerial library. Install it using the following.
sudo pip3 install pyserial
Setup ROS2 as per instructions here. Depending on the version of Ubuntu being used, a different distro might have to be installed instead.
The program can be run with the following commands from within ros2_ws:
source /opt/ros/humble/setup.bash
source install/setup.bash
ros2 run wind_pub wind
Depending on the distro used, you might need to change humble out for your distro.
You may run into issues along the lines of port access permission denied. In that case, you can opt to run the following commands to enable access to serial ports, then reboot the computer for the command to take effect. This gives read and write permissions to all /dev ports for the user.
sudo adduser <username> dialout