tof_publisher

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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

# 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