Proximity

Short Range IR (Reflectance)

The short range IR (Infrared) node provides topics for range reading from the 8 short range (4mm < r < 50mm) IR sensors located radially on the e-puck.

The indices of the short range IR sensors are show in the diagram below:

Parameters

• ~rate, float: the publish rate in hertz (default: 5).
• tf_prefix, str: the transform prefix for the sensor frames of reference.

Published Topics

• short_range_ir/0 to short_range_ir/7, Range: topics which publish the range read by their respective

Subscribed Topics

None.

Dependencies

Python

• SMBus

Long Range IR (Time-of-Flight)

The long range IR node provides a topic for the range reading from one of the 6 long range (up 4m depending on mode) IR laser time-of-flight sensors located around the pi-puck. There should be one instance of this node per sensor using the ~sensor parameter of the node to set the sensor index.

The indices of the long range IR sensors are show in the diagram below:

Parameters

• ~rate, float: the publish rate in hertz (default: 1).
• ~sensor, int: the index of the sensor this node will read from, should be between 0-5 (inclusive).
• ~mode, str: The range mode for the sensor, should be one of "short", "medium", "long", refer to the VL53L1X datasheet for more info on the ranging mode characteristics (default: short).
• tf_prefix, str: the transform prefix for the sensor frames of reference.

Published Topics

• long_range_ir/0 to short_range_ir/5, Range: topics which publish the range read by their respective

Subscribed Topics

None.

Dependencies

Python

• VL53L1X