# tof_publisher

*This file is ai generated. Do not edit this file directly. Instead, edit the node source code and run the generate-node-docs command to update this file.*

## Node Description
A ROS2 node that connects to a microcontroller via a serial USB connection and publishes Time-of-Flight (ToF) sensor data. The node supports multiple ToF sensor models including TMF882X and VL53L8CH sensors.

## Publishers
| Topic | Message Type | Description |
|-------|--------------|-------------|
| `mini_tof_data` | `mini_tof_interfaces/msg/ToFFrame` | Publishes ToF sensor data from the connected microcontroller |

## Parameters
| Parameter | Type | Default | Description |
|-----------|------|---------|-------------|
| `sensor_model` | string | *Required* | The model of the ToF sensor. Supported models: TMF882X, VL53L8CH |
| `mcu_port` | string | `"/dev/ttyACM0"` | The port to which the microcontroller is connected |
| `num_zones` | int | `9` (TMF882X) | The number of zones reported by the sensor. Required for VL53L8CH (16 or 64) |

## Example Usage
```bash
# Run with TMF882X sensor
ros2 run mini_tof tof_publisher --ros-args -p mcu_port:=/dev/ttyACM0 -p sensor_model:=TMF882X

# Run with VL53L8CH sensor (16 zones)
ros2 run mini_tof tof_publisher --ros-args -p mcu_port:=/dev/ttyUSB0 -p sensor_model:=VL53L8CH -p num_zones:=16

# Run with VL53L8CH sensor (64 zones)
ros2 run mini_tof tof_publisher --ros-args -p sensor_model:=VL53L8CH -p num_zones:=64
```