Overview

Purpose

The distance service uses the urm09 ultrasound sensor to measure the distance to an object in front of a Rover using a single point beam. This distance is measured in meters.

The red beam represents the distance measured from the front of the Rover to the object.

Installation

To install this service, the latest release of roverctl should be installed for your system and your Rover should be powered on.

Using roverctl

1. Install the service from your terminal

# Replace ROVER_NUMBER with your the number label on your Rover (e.g. 7)
roverctl service install -r <ROVER_NUMBER> https://github.com/VU-ASE/distance/releases/latest/download/distance.zip 

Using roverctl-web

1. Open roverctl-web for your Rover

# Replace ROVER_NUMBER with your the number label on your Rover (e.g. 7)
roverctl -r <ROVER_NUMBER>

2. Click on "install a service" button on the bottom left, and click "install from URL"
3. Enter the URL of the latest release:

https://github.com/VU-ASE/distance/releases/latest/download/distance.zip 

Follow this tutorial to understand how to use an ASE service. You can find more useful roverctl commands here

Requirements

• A urm09 ultrasound sensor should be connected over I2C

Inputs

As defined in the service.yaml, this service does not depend on any other service.

Outputs

As defined in the service.yaml, this service exposes the following write streams:

• distance:
  • To this stream, DistanceSensorOutput messages will be written. Each message will be wrapped in a SensorOutput wrapper message