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bb_sharp_ir

Some issues have been notified regarding the voltage levels. Note that the BB and BBB ADC are 1.8 Volts maximum.

This ROS package publishes the Sharp IR sensors values to a ROS topic. For now the following sensors are supported:

• GP2Y0A21 Distance Sensor (10-80cm) [scripts/GP2Y0A21YK0F.py]

• GP2Y0D810Z0F Digital Distance Sensor (10cm) [scripts/GP2Y0D810Z0F.py]

• GP2Y0D805Z0F Digital Distance Sensor (5cm) [scripts/GP2Y0D805Z0F.py]

Note that this package makes use of the adafruit-beaglebone-io-python library.

####gp2y0a21yk0f ROS node that reads a Sharp IR gp2y0a21yk0f sensor (analog sensor) and publishes its output to a topic. The code is configured so that the sensor is connected to P9_40. (Needs to use ADC). The information published can be interpreted as distance. The sensor is able to recognize objects from 10cm to 80cm. #####Published topics ir_sharp_80cm (std_msgs.msg String)

####gp2y0d805z0f ROS node that reads a Sharp IR gp2y0d805z0f sensor (digital sensor) and publishes its output to a topic. The code is configured so that the sensor is connected to the Beaglebone P8_14. The node publishes whether the sensor detects and object within its range (5 cm). #####Published topics ir_sharp_5cm (std_msgs.msg String)

####gp2y0d810z0f ROS node that reads a Sharp IR gp2y0d810z0f sensor (digital sensor) and publishes its output to a topic. The code is configured so that the sensor is connected to the Beaglebone P8_14. The node publishes whether the sensor detects and object within its range (10 cm). #####Published topics ir_sharp_10cm (std_msgs.msg String)