ms5837_bar_ros

Overview

ROS 2 package for Blue Robotics Bar30 and Bar02 High Resolution Depth/Pressure Sensor

Keywords: ROS 2, Bar30, Bar02

License

The source code is released under a MIT license.

Requirements

Bar30 High-Resolution 300m Depth/Pressure Sensor

Bar02 Ultra High Resolution 10m Depth/Pressure Sensor

Installation

Clone with --recursive in order to get the necessary ms5837-python library:

Warning
The python library will generate a syntax error if there is a hyphen in the name.
Therefore, we need to move ms5837 package in the submodule.

sudo apt-get install i2c-tools
sudo pip3 install smbus2

I2C Address: default is 0x76, so check the i2c address.

i2cdetect -y 1
Warning: Can't use SMBus Quick Write command, will skip some addresses
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:
10:
20:
30: -- -- -- -- -- -- -- --
40:
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60:
70:

# If it is not detected by i2cdtect, run the following:
# If you use more than two, you will need to use another device as dump detection is not possible with 0x76.

i2cdump -y 1 0x76
No size specified (using byte-data access)
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f    0123456789abcdef
00: 7b 00 XX XX XX XX XX XX XX XX XX XX XX XX XX XX    {.XXXXXXXXXXXXXX
10: XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX    XXXXXXXXXXXXXXXX
20: XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX    XXXXXXXXXXXXXXXX
30: XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX    XXXXXXXXXXXXXXXX
40: XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX    XXXXXXXXXXXXXXXX
50: XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX    XXXXXXXXXXXXXXXX
60: XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX    XXXXXXXXXXXXXXXX
70: XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX    XXXXXXXXXXXXXXXX
80: XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX    XXXXXXXXXXXXXXXX
90: XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX    XXXXXXXXXXXXXXXX
a0: 00 00 b2 b2 b1 b1 6b 6b 71 71 78 78 67 67 XX XX    ..????kkqqxxggXX
b0: XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX    XXXXXXXXXXXXXXXX
c0: XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX    XXXXXXXXXXXXXXXX
d0: XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX    XXXXXXXXXXXXXXXX
e0: XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX    XXXXXXXXXXXXXXXX
f0: XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX XX    XXXXXXXXXXXXXXXX

Build and run execute the following:

cd dev_ws/src
git clone -b master --recursive https://github.com/tasada038/ms5837_bar_ros.git
cd ~/dev_ws/src/ms5837_bar_ros/ms5837_bar_ros/
mv ms5837-python/ms5837 ./
sudo rm -r ms5837-python/*.py
cd ~/dev_ws
colcon build --packages-select ms5837_bar_ros

Run

Publish bar data

. install/setup.bash
ros2 run ms5837_bar_ros bar30_node
ros2 run ms5837_bar_ros bar02_node

Publish bar data using Rviz2

. install/setup.bash
ros2 launch ms5837_bar_ros bar30.launch.py
ros2 launch ms5837_bar_ros bar02.launch.py

Ping sonar Topics

The topics of the ms5837_bar_ros are as follows.

Note
xx is 30 or 02.

$ ros2 topic list
/barxx/pressure
/barxx/temperature
/barxx/depth
/barxx/odom

• std_msgs.msg Float32: /barxx/pressure
• std_msgs.msg Float32: /barxx/temperature
• std_msgs.msg Float32: /barxx/depth
• nav_msgs.msg Odometry: /barxx/odom

License

This action is licensed under the MIT License. This project is originally created by Blue Robotics, and maintained continuously by Takumi Asada.

Projects in .gitmodules files are covered by Blue Robotics Inc's MIT License. Other software components are licensed under this project's license.