This module is responsible for receiving sensor sharp distances, calculate the vehicle orientation and publish them into ros.
1- You need to place the sensors in the vehicle.
2- Connect the system serial port to one of computer usb
3- Connect Vin to 14V and Gnd to ground.
4- Launch the calibration_base and orientation_base, for that use the folow command, roslaunch optoelectric vehicle_sharp_calibration.launch
5- Launch the perception_base and orientation_base, for that use the folow command, roslaunch optoelectric vehicle_sharp.launch
You could run Rviz to view the markers.
Arduino Serial port: "/dev/ttyACM0" Baudrate:115200
Publish mensagens from this module.
Published Topic:
For sensors distance,
/optoelectic_vehicle_base/sharp_0
/optoelectic_vehicle_base/sharp_2
/optoelectic_vehicle_base/sharp_3
/optoelectic_vehicle_base/sharp_4
/optoelectic_vehicle_base/sharp_5
/optoelectic_vehicle_base/sharp_6
/optoelectic_vehicle_base/sharp_7
For orientation,
/optoelectic_vehicle_preception_base/pose_orientation
For car maker,
/optoelectic_vehicle_preception_base/atlascar_ori