README.md

HCSR04 Ultrasonic Sensor ROS2 Driver

Parameters

Name	Type	Description	Default value
minimum_range	int	Detection minimum range	2
maximum_range	int	Detection maximum range	100
field_of_view	float	Detection Field of View	15.0
trigger_pin	int	Wiring Pi GPIO pin for trigger	25
echo_pin	int	Wiring Pi GPIO pin for echo	24

Subscriptions/Publications

Node [/sonar_driver_node]
Publications:
* /ultrasonic/distance [sensor_msgs/Range]
* /ultrasonic/relative_velocity [sensor_msgs/Range]

Subscriptions:

To Run

Install Wiring Pi

Follow this site: https://www.electronicwings.com/raspberry-pi/how-to-use-wiringpi-library-on-raspberry-pi

Install Packages to Workspace

cd ~/ros2_ws/src/
git clone https://github.com/joewong00/HCSR04-ros2-wrapper.git
cd ..
colcon build
source install/setup.bash

Launch

ros2 launch ultrasonic_driver ultrasonic.launch.py