Blueprint Oculus Sonar ROS2 driver

This is a ROS2 metapackage including:

• A ROS2 package oculus_interfaces containing the useful ROS messages definitions,
• A ROS2 package oculus_ros2 interfacing the driver messages with ROS2 topics,

This ROS2 metapackage was developed and tested using:

• Ubuntu 24.04 LTS
  
• ROS2 jazzy
• M750d Sonar

Dependencies

sudo apt-get install libboost-dev libboost-system-dev libboost-thread-dev ros-jazzy-cv-bridge

Messages

• Fan Shaped Image : "oculus/image" (sensor_msgs::msg::Image)
• Bin-Beam Image : "oculus/raw_image" (sensor_msgs::msg:Image)
• Pressure : "oculus/pressure" (sensor_msgs::msg::FluidPressure)
• Temperature : "oculus/temperature" (sensor_msgs::msg::Temperature)
• Depth : "oculus/depth/odometry" (nav_msgs::msg::Odometry)
• Status : "oculus/status" (oculus_interfaces::msg::OculusStatus)
• Ping : "oculus/ping" (oculus_interfaces::msg::Ping)

Installation

$ cd ~/YOUR_WS/src
$ git clone https://github.com/GSO-soslab/blueprint_oculus_sonar
$ cd blueprint_oculus_sonar
$ git checkout jazzy-devel
$ cd ../..
$ colcon build --packages-select oculus_interfaces oculus_ros2

Launch

$ ros2 launch oculus_ros2 default.launch.py

Troubleshooting

The sonar itself has a fixed IP address which may or may not be indicated on the box. To avoid bricking of the sonar by "lack of post-it", the sonar makes itself known on the network by broadcasting its own IP address. This library should always detect the IP of a plugged in Oculus sonar. You should make sure your own system configuration match the configuration of the sonar (i.e. your system and the sonar must be on the same subnet).

Acknowledgement

This repository is modified version of ENSTABretagneRobotics ROS2 driver for the Blueprint Oculus Driver to suit our needs. We really appreciate their work.