├── README.md
├── .gitignore
├── LICENSE
└── talker.py


/README.md:
--------------------------------------------------------------------------------
1 | # ultrasonic_module
2 | sensor module uses and publishes info from the ultrasonic device
3 | 


--------------------------------------------------------------------------------
/.gitignore:
--------------------------------------------------------------------------------
 1 | # Byte-compiled / optimized / DLL files
 2 | __pycache__/
 3 | *.py[cod]
 4 | 
 5 | # C extensions
 6 | *.so
 7 | 
 8 | # Distribution / packaging
 9 | .Python
10 | env/
11 | build/
12 | develop-eggs/
13 | dist/
14 | downloads/
15 | eggs/
16 | .eggs/
17 | lib/
18 | lib64/
19 | parts/
20 | sdist/
21 | var/
22 | *.egg-info/
23 | .installed.cfg
24 | *.egg
25 | 
26 | # PyInstaller
27 | #  Usually these files are written by a python script from a template
28 | #  before PyInstaller builds the exe, so as to inject date/other infos into it.
29 | *.manifest
30 | *.spec
31 | 
32 | # Installer logs
33 | pip-log.txt
34 | pip-delete-this-directory.txt
35 | 
36 | # Unit test / coverage reports
37 | htmlcov/
38 | .tox/
39 | .coverage
40 | .coverage.*
41 | .cache
42 | nosetests.xml
43 | coverage.xml
44 | *,cover
45 | 
46 | # Translations
47 | *.mo
48 | *.pot
49 | 
50 | # Django stuff:
51 | *.log
52 | 
53 | # Sphinx documentation
54 | docs/_build/
55 | 
56 | # PyBuilder
57 | target/
58 | 


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
 1 | Copyright (c) 2015, oddbotics
 2 | All rights reserved.
 3 | 
 4 | Redistribution and use in source and binary forms, with or without
 5 | modification, are permitted provided that the following conditions are met:
 6 | 
 7 | * Redistributions of source code must retain the above copyright notice, this
 8 |   list of conditions and the following disclaimer.
 9 | 
10 | * Redistributions in binary form must reproduce the above copyright notice,
11 |   this list of conditions and the following disclaimer in the documentation
12 |   and/or other materials provided with the distribution.
13 | 
14 | * Neither the name of ultrasonic_module nor the names of its
15 |   contributors may be used to endorse or promote products derived from
16 |   this software without specific prior written permission.
17 | 
18 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
19 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
21 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
22 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
23 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
24 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
25 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
26 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
28 | 
29 | 


--------------------------------------------------------------------------------
/talker.py:
--------------------------------------------------------------------------------
 1 | #!/usr/bin/env python
 2 | import rospy
 3 | import serial
 4 | import string
 5 | 
 6 | from std_msgs.msg import String
 7 | from std_msgs.msg import Float32
 8 | 
 9 | ser = serial.Serial(
10 |     # make the port a param
11 |     rospy.get_param('port', '/dev/ttyUSB0'),
12 |     # port='/dev/ttyUSB0',
13 |     baudrate=9600,
14 |     parity=serial.PARITY_NONE,
15 |     stopbits=serial.STOPBITS_ONE,
16 |     bytesize=serial.EIGHTBITS
17 |     #timeout=1
18 | )
19 | 
20 | windowSize = 5
21 | 
22 | ser.isOpen()
23 | 
24 | def talker():
25 |     pub = rospy.Publisher('chatter', Float32, queue_size=10)
26 |     rospy.init_node('talker', anonymous=True)
27 |     rate = rospy.Rate(10) # 10hz
28 |     
29 |     sensorReadingsList = []
30 | 
31 |     while not rospy.is_shutdown():
32 |         byteData = ser.read(6)
33 |         byteData += ser.read(ser.inWaiting())
34 |         byteData = byteData.translate(None, 'R')
35 |         strByteData = byteData[0]+byteData[1]+byteData[2]+byteData[3]
36 |         
37 |         if strByteData != '':
38 |             try:
39 |                 intByteData = int(strByteData)
40 |                 floatByteData = intByteData/1000.0
41 |                 
42 |                 # use moving average
43 |                 sensorReadingsList.append(floatByteData)
44 |                 if len(sensorReadingsList) > windowSize:
45 |                     sensorReadingsList.pop(0)
46 |                 if len(sensorReadingsList) == windowSize:
47 |                     sensorAverage = sum(sensorReadingsList)/len(sensorReadingsList)
48 |                     pub.publish(sensorAverage)
49 |                 rate.sleep()
50 |             except ValueError:
51 |                 rate.sleep()
52 | 
53 | if __name__ == '__main__':
54 |     try:
55 |         talker()
56 |     except rospy.ROSInterruptException:
57 |         pass
58 | 


--------------------------------------------------------------------------------