ROS-Node for Neobotix USBoard

This node handles parameters and communication of the Neobotix USBoard. The USBoard is available as standalone unit and in all Neobotix mobile robots (http://www.neobotix-robots.com/components.html).

Neobotix USBoard features

• Users can connect up to 16 Bosch ParkPilot URF6 / USS4 ultrasonic sensors to the USBoard and read their measurements via CAN and RS232. This allows to easily fill gaps that cannot be covered by other sensors.
• In standalone mode two thresholds (warning and alarm) can be defined for each sensor individually. Two relays signal the detection of an obstacle within the warning or alarm range of any active sensor.
• Configuration of the Neobotix USBoard is done via an easy to use graphical user interface that is included in delivery. The user interface runs on any Java capable computer with an RS232 port and makes configuration and monitoring fast and convenient.
• For more information please take a look at the datasheet: http://www.neobotix-robots.com/fileadmin/files/downloads/Datenblaetter/USBoard-Datenblatt.pdf

Distributors

Neobotix USBoard and accessories are available at:

• Neobotix GmbH (http://www.neobotix-robots.com)
• Customers in the U.S. please contact our local distributor AutonomouStuff (http://autonomoustuff.com/product/ultrasonic/).

Versions

Tested with:

• ROS Indigo on Ubuntu 14.04
• ROS Kinetic on Ubuntu 16.04
• ROS Melodic on Ubuntu 18.04

Installation

1. Clone the repository into your catkin workspace src folder ($ git clone https://github.com/neobotix/neo_usboard.git)
2. Clone neo_msgs into your catkin workspace src folder ($ git clone https://github.com/neobotix/neo_msgs.git)
3. Check the ttyUSB port on which the USBoard is connected to the PC via RS-232 (generally /dev/ttyUSB0)
4. Define parameters in launch/usboard_param.yaml
5. Make sure that neo_msgs package is added to your catkin workspace
6. Build your catkin workspace

Usage

1. Configure the USBoard: nano neo_usboard/launch/usboard_param.yaml
2. Start the Node: roslaunch neo_usboard neo_usboard.launch
3. Print and montior the published sensors data using rostopic or rqt: rostopic echo /USBoard/Measurements

Topics

Name	Type
/USBoard/Measurements	neo_msgs/USBoard
/USBoard/Sensor1	sensor_msgs/Range
/USBoard/Sensor2	sensor_msgs/Range
/USBoard/Sensor3	sensor_msgs/Range
/USBoard/Sensor4	sensor_msgs/Range
/USBoard/Sensor5	sensor_msgs/Range
/USBoard/Sensor6	sensor_msgs/Range
/USBoard/Sensor7	sensor_msgs/Range
/USBoard/Sensor8	sensor_msgs/Range
/USBoard/Sensor9	sensor_msgs/Range
/USBoard/Sensor10	sensor_msgs/Range
/USBoard/Sensor11	sensor_msgs/Range
/USBoard/Sensor12	sensor_msgs/Range
/USBoard/Sensor13	sensor_msgs/Range
/USBoard/Sensor14	sensor_msgs/Range
/USBoard/Sensor15	sensor_msgs/Range
/USBoard/Sensor16	sensor_msgs/Range

Parameters

Parameter	Default Value	Description
ComPort	/dev/ttyUSB0	Port the Neobotix USBoard is connected to
usboard_timeout	0.5	Timeout in [s]
requestRate	5	Request and Publish rate of sensor values in [Hz] (5Hz maximum)
log	false	Write raw data for debugging to file
sensor1_active	true	defines if sensor_msgs/Range Topic for ultrasonic sensor 1 should be published
sensor2_active	true	defines if sensor_msgs/Range Topic for ultrasonic sensor 2 should be published
sensor3_active	true	defines if sensor_msgs/Range Topic for ultrasonic sensor 3 should be published
sensor4_active	true	defines if sensor_msgs/Range Topic for ultrasonic sensor 4 should be published
sensor5_active	true	defines if sensor_msgs/Range Topic for ultrasonic sensor 5 should be published
sensor6_active	true	defines if sensor_msgs/Range Topic for ultrasonic sensor 6 should be published
sensor7_active	false	defines if sensor_msgs/Range Topic for ultrasonic sensor 7 should be published
sensor8_active	false	defines if sensor_msgs/Range Topic for ultrasonic sensor 8 should be published
sensor9_active	false	defines if sensor_msgs/Range Topic for ultrasonic sensor 9 should be published
sensor10_active	false	defines if sensor_msgs/Range Topic for ultrasonic sensor 10 should be published
sensor11_active	false	defines if sensor_msgs/Range Topic for ultrasonic sensor 11 should be published
sensor12_active	false	defines if sensor_msgs/Range Topic for ultrasonic sensor 12 should be published
sensor13_active	false	defines if sensor_msgs/Range Topic for ultrasonic sensor 13 should be published
sensor14_active	false	defines if sensor_msgs/Range Topic for ultrasonic sensor 14 should be published
sensor15_active	false	defines if sensor_msgs/Range Topic for ultrasonic sensor 15 should be published
sensor16_active	false	defines if sensor_msgs/Range Topic for ultrasonic sensor 16 should be published

Warranty

This software is provided by the copyright holders and contributors "as is" and any express or implied warranties, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose are disclaimed. In no event shall the copyright owner or contributors be liable for any direct, indirect, incidental, special, exemplary, or consequential damages (including, but not limited to, procurement of substitute goods or services; loss of use, data, or profits; or business interruption) however caused and on any theory of liability, whether in contract, strict liability, or tort (including negligence or otherwise) arising in any way out of the use of this software, even if advised of the possibility of such damage.