Wrappers for Other Frameworks

In addition the the examples, the Sensor Ring library has provides for ROS and ROS2 which make the integration of the EduArt Sensor Ring in existing projects easy.

1. ROS Wrapper

The Ros1 wrapper publishes the Time of Flight Sensor measurements as PointCloud2 message and the thermal measurements as Image message. In addition the pose of each sensor is published as a static transformation.

ℹ️ Using the ROS Wrapper does not require you to install the Sensor Ring Library manually. The ROS build will automatically fetch the library if it is not detected by CMake.

• ROS Native

  mkdir catkin_ws/src -p
  cd catkin_ws
  git clone https://github.com/EduArt-Robotik/edu_sensorring_ros1.git ./src
  catkin_make -DCATKIN_WHITELIST_PACKAGES="edu_sensorring_ros1"
  source devel/setup.bash
  roslaunch edu_sensorring_ros1 usb_sensorring.launch

  ℹ️ The parameters of the Sensor Ring are defined in the native ROS parameter file and have to be adjusted to match the actual sensor configuration.

• ROS in Docker

  git clone https://github.com/EduArt-Robotik/edu_sensorring_ros1.git
  cd edu_sensorring_ros1/docker/
  docker compose build
  docker compose up -d

  ℹ️ The parameters of the Sensor Ring are defined in the Docker parameter file and have to be adjusted to match the actual sensor configuration.

2. ROS2 Wrapper

The Ros2 wrapper publishes the Time of Flight Sensor measurements as PointCloud2 message and the thermal measurements as Image message. In addition to the sensor messages the pose of each sensor is published as a static transformation.

ℹ️ Using the ROS2 Wrapper does not require you to install the Sensor Ring Library manually. The ROS2 build will automatically fetch the library if it is not detected by CMake.

• ROS2 Native

  mkdir ros2_ws/src -p
  cd ros2_ws
  git clone https://github.com/EduArt-Robotik/edu_sensorring_ros2.git ./src
  colcon build --packages-select edu_sensorring_ros2 --symlink-install --event-handlers console_direct+
  source install/setup.bash
  ros2 launch edu_sensorring_ros2 usb_sensorring.launch.py

  ℹ️ The parameters of the Sensor Ring are defined in the native ROS2 parameter file and have to be adjusted to match the actual sensor configuration.

• ROS2 in Docker

  git clone https://github.com/EduArt-Robotik/edu_sensorring_ros2.git
  cd edu_sensorring_ros2/docker/
  docker compose build
  docker compose up -d

  ℹ️ The parameters of the Sensor Ring are defined in the Docker parameter file and have to be adjusted to match the actual sensor configuration.

3D point cloud from the sensor system on a mobile robot visualized with Rviz

3D map of a corridor recorded with the sensor system using Octomap.

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Examples