at_sonde_ros_driver

A ROS 2 driver to stream the monitored parameters of an In-Situ Aqua TROLL Multiparameter Sonde.

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README

at_sonde_ros_driver

Overview

This package provides a ROS 2 driver to stream the monitored parameters of an In-Situ Aqua TROLL Multiparameter Sonde, through modbus serial communication.

This package has been tested with the AT600 Sonde.

Installation

Make sure you have ROS 2 installed on your system.

Binary

To install the binary package, use the following command:

sudo apt update
sudo apt install ros-$ROS_DISTRO-at-sonde-ros-driver

From Source

To build the package from source, follow these steps:

1. Create a workspace directory:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

2. Clone the repository:

git clone https://github.com/ma-shangao/at_sonde_ros_driver.git

3. Prepare the required dependencies with rosdep:

cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y

4. Build the package:

colcon build

ROS 2 Node: at_sonde_ros_driver_node

Published Topics

The node publishes the following topics:

Topic Name	Message Type	Description
see ROS param pub_topic_names	std_msgs/msg/Float32	Publisher of selected sonde parameters
…

ROS Parameters

The configurable ROS parameters for the node:

Parameter Name	Type	Default Value	Description
baud	int	19200	Baud rate for serial communication
modbus_debug_flag	bool	false	Enable debug messages for modbus communication
modbus_timeout_microseconds	int	700000	Timeout for modbus communication in microseconds
modbus_timeout_seconds	int	0	Timeout for modbus communication in seconds
pub_topic_names	list[string]	[“temperature”, “battery_remaining”]	Names of the topics to publish the streamed data
retry_limit	int	5	Number of retries for modbus communication
sensor_scan_flag	bool	false	Scan the sensor on the first use after reconfiguration
serial_port	string	“/dev/ttyUSB0”	Serial port for modbus communication
sonde_add	int	1	Sonde address for modbus communication
streaming_param_reg_adds	list[int]	[5450, 5674]	Register addresses of the parameters to be streamed

The pub_topic_names and streaming_param_reg_adds parameters must be set in pairs. The first element of pub_topic_names corresponds to the first element of streaming_param_reg_adds, and so on.

Usage

To run the node, use the following command:

ros2 run at_sonde_ros_driver at_sonde_ros_driver_node

The ROS parameters can also be configured using a YAML file.

ros2 run at_sonde_ros_driver at_sonde_ros_driver_node --ros-args --params-file <path_to_yaml_file>

Known Issues

Some ROS 2 parameters can currently only be set at the start of the node.