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ROS Driver of The Single Beam Sonar from BlueRobotics

bluerobotics-ping requires Python3. We create the ROS Noetic virtual environment in Conda so that this package can be used on Ubuntu 16.04/18.04 as well.

  1. Install Miniconda: https://docs.conda.io/en/latest/miniconda.html
  2. Follow https://github.com/RoboStack/ros-noetic to create a ROS Noetic virtual environment called ros
  3. Create a catkin workspace if necessary
mkdir -p ~/sonar_ws/src
  1. Clone this repo
cd ~/sonar_ws/src
git clone https://github.com/Weizhe-Chen/single_beam_sonar.git
  1. Install ping-python to read the sonar data
conda activate ros
pip install bluerobotics-ping
  1. Build the package
cd ~/sonar_ws/
catkin build
. devel/setup.bash
  1. Launch the driver
roslaunch single_beam_sonar driver.launch
  1. Check the published data
rqt_console

  1. Alternatively, we can run the node directly rather than doing step 5 and 6
# In another terminal
roscore
# In the terminal with conda virtualenv and ~/sonar_ws/devel/setup.sh sourced
rosrun single_beam_sonar driver.py

  1. Check rostopic

    rostopic info /sonar
rostopic echo /sonar

  2. (Optional) I've added the following lines in the ~/.bashrc file of the on-board computer to activate the Noetic virtual environment and catkin workspace whenever we open a terminal

    # vim ~/.bashrc
conda activate ros
source ~/sonar_ws/devel/setup.bash