Merge pull request #2 from CentraleNantesRobotics/develop

Bugfixes and refacto

.gitignore

@@ -0,0 +1,2 @@
+.vscode
+**/*.pyc

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(ros-ping360-sonar)
+project(ping360_sonar)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)

README.md

@@ -1,2 +1,2 @@
-# ros-ping360-sonar
+# ping360_sonar
 ROS package for Blue Robotics Ping360 Sonar

find_usb_port.sh

@@ -0,0 +1,16 @@
+#!/bin/bash
+
+for sysdevpath in $(find /sys/bus/usb/devices/usb*/ -name dev); do
+    (
+        syspath="${sysdevpath%/dev}"
+        devname="$(udevadm info -q name -p $syspath)"
+        [[ "$devname" == "bus/"* ]] && continue
+        eval "$(udevadm info -q property --export -p $syspath)"
+        [[ -z "$ID_SERIAL" ]] && continue
+        # echo "$ID_SERIAL"
+        if [ $ID_SERIAL == "FTDI_FT230X_Basic_UART_DO01F2RQ" ]; then
+            echo "$devname"
+        fi
+    )
+done
+

launch/example.launch

@@ -0,0 +1,15 @@
+<launch>
+    <node pkg="ping360_sonar" type="ping360_node" name="ping360_node" output="screen">
+        <param name="device" value="/dev/ttyUSB0"/>
+        <param name="baudrate" value="115200"/>
+        <param name="debug" value="True"/>
+        <param name="imgSize" value="500"/>
+        <param name="gain" value="0"/>
+        <param name="step" value="1"/>
+        <param name="numberOfSamples" value="200"/>
+        <param name="transmitFrequency" value="740"/>
+        <param name="sonarRange" value="1"/>
+        <param name="speedOfSound" value="1500"/>
+        <param name="queueSize" value="1"/>
+    </node>
+</launch>

nodes/ping360_node

@@ -1,5 +1,6 @@
 #!/usr/bin/env python
-from ping360 import main
-import sys
+
+from ping360_sonar import main
+
 if __name__ == '__main__':
     main()

package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>ros-ping360-sonar</name>
+  <name>ping360_sonar</name>
   <version>0.0.0</version>
   <description>The sonar-ping360 package</description>
 

setup.py

@@ -4,7 +4,7 @@
 from catkin_pkg.python_setup import generate_distutils_setup
 
 setup_args = generate_distutils_setup(
-     packages=['ping360'],
+     packages=['ping360_sonar'],
      package_dir={'': 'src'},
      install_requires=['bluerobotics-ping']
 )

src/ping360_sonar/__init__.py

@@ -0,0 +1,5 @@
+from polarplot import main
+from brping.definitions import *
+from brping.pingmessage import *
+from brping.device import PingDevice
+from brping.ping360 import Ping360