Driver for interfacing with Bosch proximity sensors through a Sub20 device.
- Author: Philip Roan and Joerg Wagner
- License: BSD
- Repository: bosch-ros-pkg
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/bosch_proximity_sensor/proximity_sensor_driver
The proximity_sensor_driver communicates over a SUB20 with the controller box of the proximity sensor. The driver takes some arguments that can be configured in the sensor_config.yaml:
sensor_count the number of patches that are in the proximity sensor chain
noise_threshold Patches with a value in the range of this parameter to init are considered as inactive
static_threshold Patches with a reading over the range of noise_threshold but within static_threshold are considered as (abs(init - reading) - noise_threshold) / static_threshold % active.
dynamic_threshold Not used yet
After you have configured the driver you can launch it with
roslaunch proximity_sensor_driver proximity_sensor_driver.launch