ROS driver for ks103 Ultrasound Range Finder

This ros package is designed to drive multiple ks103 sensors through linux I2C interface.

Prerequisites

1. Have Ubuntu, ROS installed

2. Having permission to i2c device (test by running i2c-detect -y 1, you will need i2c-tools for this). The following commands help grant i2c permission to user.

   sudo groupadd i2c
   sudo chown :i2c /dev/i2c-1
   sudo chmod g+rw /dev/i2c-1
   sudo usermod -aG i2c $USER

3. Having ks103 sensors connected to RaspberryPi's default I2C SDA/SCL pins

How to Use

Set the params in launch/example.yml, then

roslaunch ks103-ultrasound example.launch

Range are advertised in topics ~/range/i (sensor_msgs/Range), in which i being the index of each ks103 set in launch/example.yml.