nlink_parser ROS Package

Overview

This package is developed for LinkTrack ,LinkTrack-AOA and TOFSense written in C++, you can get the data from device you need directly without additional process.

Refer to NLink document

Keywords: ros, nlink parser, serial

License

The source code is released under a BSD 3-Clause license.

The nlink_parser package has been tested under [ROS] Kinetic and Ubuntu 16.04.

Installation

Building from Source

Dependencies

• Robot Operating System (ROS) (middleware for robotics),

• Serial Library

  Please make sure you have the permission to read or write to serial device, refer to Fix serial port permission denied errors on Linux

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone --recursive https://github.com/nooploop-dev/nlink_parser.git 
cd ../
catkin_make
source devel/setup.bash

Unit Tests

Run the unit tests with

roscore
catkin_make run_tests

Nodes

linktrack

Read and unpack serial data from device.When a protocol passes verification, topic of it will be registered and published.

Usage

Run with

roslaunch nlink_parser linktrack.launch

Param

• port_name serial port name of the device. Default: /dev/ttyUSB0.
• baud_rate baud rate of the device. Default: 921600.

Run msg converter for RVIZ and view it

roslaunch nlink_parser linktrack_rviz.launch

Subscribed Topics

• /nlink_linktrack_data_transmission ([std_msgs::String])

  You can write data to the device by sending a message to this topic

Published Topics

• /nlink_linktrack_anchorframe0 ([nlink_parser::LinktrackAnchorframe0])
• /nlink_linktrack_tagframe0 ([nlink_parser::LinktrackTagframe0])
• /nlink_linktrack_nodeframe0 ([nlink_parser::LinktrackNodeframe0])
• /nlink_linktrack_nodeframe1 ([nlink_parser::LinktrackNodeframe1])
• /nlink_linktrack_nodeframe2 ([nlink_parser::LinktrackNodeframe2])
• /nlink_linktrack_nodeframe3 ([nlink_parser::LinktrackNodeframe3])

linktrack_aoa

same as linktrack.

Usage

Run with

roslaunch nlink_parser linktrack_aoa.launch

Param

• port_name serial port name of the device. Default: /dev/ttyUSB0.
• baud_rate baud rate of the device. Default: 921600.

Subscribed Topics

• /nlink_linktrack_data_transmission ([std_msgs::String])

  You can write data to the device by sending a message to this topic

Published Topics

• /nlink_linktrack_nodeframe0 ([nlink_parser::LinktrackNodeframe0])
• /nlink_linktrack_aoa_nodeframe0 ([nlink_parser::LinktrackAoaNodeframe0])

tofsense

same as linktrack.

Usage

Run with

roslaunch nlink_parser tofsense.launch

Param

• port_name serial port name of the device. Default: /dev/ttyUSB0.
• baud_rate baud rate of the device. Default: 921600.
• inquire_mode if true, automatic query nodes and output them together. Default: true.

Published Topics

• /nlink_tofsense_cascade ([nlink_parser::TofsenseCascade])
• /nlink_tofsense_frame0 ([nlink_parser::TofsenseFrame0])

Related Projects

• nlink_unpack Used for unpacking nlink protocols written in C.(submodule of this repository)
• nlink_example Example of how to use nlink_parser ROS package in another package.

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.