Robotics Weekends Andrew-rw

Andrew-rw / vl53l0x_tty.ino

Last active March 3, 2020 13:52

Sketch for vl53l0x ROS range sensor

	#include "Adafruit_VL53L0X.h"

	/*
	* Protocol description.
	* Every message starts with 0xAD byte, followed by message type byte and ends with \r\n (0x0D, 0x0A)
	* Message types
	* 0xEF - initialization failed
	* 0xE0 - initialization successful, no errors
	* 0x1D - range message, followed by two bytes range measurement
	* 0xEA - out of range

Andrew-rw / vl53l0x.ino

Created December 26, 2019 14:25

VL53L0X Arduino ROS node

	#include <ros.h>
	#include <ros/time.h>
	#include <sensor_msgs/Range.h>
	#include "Adafruit_VL53L0X.h"

	ros::NodeHandle nh;
	sensor_msgs::Range range_msg;
	ros::Publisher pub_range( "range_data", &range_msg);
	Adafruit_VL53L0X sensor = Adafruit_VL53L0X();
	VL53L0X_RangingMeasurementData_t measure;

Andrew-rw / MotorPWM.ino

Created September 1, 2019 12:27

Sketch for 37Dx70L motor control. Without closed-loop control

	/*
	* Simple code for the L298N motor controller
	* and Metal Gearmotor 37Dx52L mm with 64 CPR Encoder
	*/
	#include <L298N.h>

	// motor pin definition
	#define M_EN 9
	#define M_IN1 8
	#define M_IN2 7

Andrew-rw / test.ino

Created February 3, 2018 15:49

Arduino test bench for VL53L0X vs HC-SR04

	#include "Adafruit_VL53L0X.h"
	#include "HC_SR04.h"

	#define TRIG_PIN 3
	#define ECHO_PIN 2
	#define ECHO_INT 0

	HC_SR04 sensor(TRIG_PIN, ECHO_PIN, ECHO_INT);
	Adafruit_VL53L0X lox = Adafruit_VL53L0X();

Andrew-rw / kinect_view-2.rviz

Created October 1, 2017 19:12

rviz view files

Andrew-rw / depthimage_to_laserscan.launch

Created October 1, 2017 18:56

depthimage_to_laserscan node description

	<launch>
	<node pkg="depthimage_to_laserscan" name="depthimage_to_laserscan" type="depthimage_to_laserscan">
	<remap from="image" to="camera/depth/image_raw"/>
	<remap from="scan" to="depth_scan"/>
	<param name="output_frame_id" value="camera_depth_frame" />
	<param name="range_min" value="0.45" />
	</node>
	</launch>

Andrew-rw / vidsrv.launch

Created September 23, 2017 18:10

ROS web-video-server launc example

	<launch>
	<!-- This node description you can take from usb_cam-test.launch -->
	<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
	<param name="video_device" value="/dev/video0" />
	<param name="image_width" value="640" />
	<param name="image_height" value="480" />
	<param name="pixel_format" value="yuyv" />
	<param name="camera_frame_id" value="usb_cam" />
	<param name="io_method" value="mmap"/>
	</node>