Access to Sensor data from Jetson

asked 2018-07-17 09:12:11 -0600

S.Yildiz gravatar image

Im working on a project and im a very beginner of ROS. I have a sensor which calculates the distance between two decanodes. The name of these two decanodes are AGV and SV. The AGV is the module which calculated the distance. Thats the key difference between AVG and SV. The AGV has to be connected to the PC via UART to USB, in my case its connected to the Jetson board. You have insight to the data of AGV with the docklight software. Its only for windows. If everything is set up the sensor begins to collect the data (in meters).

My question is: How can I have access to these data. There is no information about that i should install a driver or something like that or a package. So if i connect it to the Jetson and if i look to the rosnode list i cant find anything which leads me to the data. I dont know what i have to do. I asked other people and they didnt know how to access the data if it is via UART to USB. So it would be really nice if someone could write a helpful answer.

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If this sensor is not yet integrated into ROS, you need to write a driver for it. I.e. a node that retrieves the data from the USB port and puts it into a ROS message that makes sense for your application.

There are quite some questions around, e.g #q10191

mgruhler gravatar image mgruhler  ( 2018-07-18 01:08:29 -0600 )edit

But how can i write a driver on ros? I couldnt find a tutorial for this.

S.Yildiz gravatar image S.Yildiz  ( 2018-07-18 11:43:45 -0600 )edit

Again, have a look at #q10191. Even though there are no complete tutorials (this is a quite hard to do task, because this depends on what kind of sensor this is, what kind of data it provides, what interface it uses, etc.), there are links to some presentations that cover that, e.g. from Chad Rockey

mgruhler gravatar image mgruhler  ( 2018-07-19 01:30:19 -0600 )edit