Ask Your Question
0

Sonar sensor in ROS

asked 2012-06-29 06:57:02 -0500

this post is marked as community wiki

This post is a wiki. Anyone with karma >75 is welcome to improve it.

Hello to everybody,

I have to ask a suggestion. Is there any implementation of sonar sensor in ROS?

I need an height estimator for my simulated quadrotor (it has to be external to IMU equipped on the quadrotor) in ROS. So, I thought to a sonar sensor.

I know that I could subscribe to all model state topic and get the z but this might be a source of error. Think about a quadrotor at 1m of height in hovering. If there is an object under it (own height 0.2m) the absolute height is again 1m instead of 1-0.2 = 0.8m that a sonar will have as output. In the meantime, if I check this constraint it is a source of error. Think about quadrotor with 15deg of roll. The height is not 1m but something more.

So, I need this kind of error. I also thought also to a range finder sensor (like Hokuyo) that I know there is already in ROS with a range really small. Has anyone tried this solution? In this way, I might be sure that it works. If there is a sonar implementation, this would be great!

Thanks a lot for any reply. Best regards,

Neostek

edit retag flag offensive close merge delete

3 Answers

Sort by ยป oldest newest most voted
1

answered 2012-07-01 05:35:43 -0500

this post is marked as community wiki

This post is a wiki. Anyone with karma >75 is welcome to improve it.

hello there is a ros implementation of SRF08 sonar sensors available on http://www.robot-electronics.co.uk/htm/srf08tech.shtml

then here is the ros package of this sensor

https://launchpad.net/usbi2c-ros-pkg

you may give it a try :)

edit flag offensive delete link more
0

answered 2012-06-30 11:19:08 -0500

this post is marked as community wiki

This post is a wiki. Anyone with karma >75 is welcome to improve it.

There is sonar implementation in ROS; however, I recommend you go with a single reading laser. This way, you won't have to deal with the inaccuracy of a sonar sensor on your drone.

One of such sensors is the Sharp IR Ranger. It is implemented and documented. Hope this was helpful!

edit flag offensive delete link more
0

answered 2012-06-29 07:01:39 -0500

this post is marked as community wiki

This post is a wiki. Anyone with karma >75 is welcome to improve it.

In addition to previous topic, I could also try with a kinect camera with a small range instead of laser sensor.

What is your opinion? Has anyone tried?

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2012-06-29 06:57:02 -0500

Seen: 2,101 times

Last updated: Jul 01 '12