Skip to content

Latest commit

 

History

History
85 lines (59 loc) · 3.46 KB

README.md

File metadata and controls

85 lines (59 loc) · 3.46 KB
Raw

ros2_hyperion_interrogator

Interrogator for FBG Interrogator Hyperion x55

Nodes

There are three different nodes here for the interrogator and nodes for calling the interrogator services.

hyperion_talker

The default interrogator to interface with the six55 Hyperion interrogators. This has slow peak streaming, but is stable.

Parameters

  • interrogator.ip_address: the IP address of the interrogator. Used for reconnect service.
  • sensor.num_samples: the number of peak samples to gather when calibrating the sensors.

Publishers

  • /sensor/raw: std_msgs/msg/Float64MultiArray of raw peak signals for all channels
  • /sensor/CHX/raw: std_msgs/msg/Float64MultiArray of raw peak signals per channel
  • /sensor/CHX/processed: std_msgs/msg/Float64MultiArray of processed peak signals per channel
  • /sensor/processed: std_msgs/msg/Float64MultiArray of processed peak signals for all channels

Subscribers

None

Services

  • /interrogator/reconnect: std_srvs/srv/Trigger, triggers the node to reconnect to the interrogator after grabbing the IP address parameter
  • /sensor/calibrate: std_srvs/srv/Trigger, triggers the node to grab a specified number of peak signals to determine a baseline for the base Bragg wavelength for processing. After the sensors are calibrated. Then the node will publish on the processed topics.

hyperion_streamer

The peak streaming node to quickly stream peaks from the six55 Hyperion interrogators. This is very quick and has been tested to work, but requires asyncio.

Parameters

Same as hyperion_talker.

Publishers

Same as hyperion_talker.

Subscibers

Same as hyperion_talker.

Services

Same as hyperion_talker except without /interrogator/reconnect. This is not a functionality that was able to work with the asyncio event loop.

hyperion_demo

This is a demo publisher that'll publish signals based on an FBG needle spec. Required to input number of channels and number of active areas

Parameters

Same as hyperion_talker with the addition

  • demo.num_active_areas: the number of active areas for the simulated FBG-sensorized needle
  • demo.num_channels: the number of channels for the simulated FBG-sensorized needle

Publishers

Same as hyperion_talker.

Subscibers

Same as hyperion_talker.

Services

Same as hyperion_talker.

reconnect

Reconnects the interrogator by trigginering the interrogators /interrogator/reconnect service. Trigger the reconnect by

ros2 run hyperion_interrogator reconnect --ros-args -r __ns:=/needle

calibrate_sensors

Triggers the interrogator to calibrate the sensors by collecting the parameter's number of samples. Trigger the calibraiton by

ros2 run hyperion_interrogator calibrate_sensors --ros-args -r __ns:=/needle

Launch

Demo Node

To launch the demo node you should use the command

ros2 launch hyperion_interrogator hyperion_demo.launch.py ip:=<demo IP address of the interrogator> numCH:=<number of FBG channels> numAA:=<number of FBG active areas per channel>

This launches tyhe hyperion demo node under the namespace /needle

Default Interrogator Node

This launches the hyperion interrogator under the namespace /needle

ros2 launch hyperion_interrogator hyperion_talker.launch.py ip:=<IP address of hyperion interrogator>

Peak Streaming Node

This launches the hyperion interrogator under the namespace /needle

ros2 launch hyperion_interrogator hyperion_talker.launch.py ip:=<IP address of hyperion interrogator>