Andrew-rw

#include "Adafruit_VL53L0X.h"

/*
* Protocol description.
* Every message starts with 0xAD byte, followed by message type byte and ends with \r\n (0x0D, 0x0A)
* Message types
* 0xEF - initialization failed
* 0xE0 - initialization successful, no errors
* 0x1D - range message, followed by two bytes range measurement
* 0xEA - out of range

Andrew-rw

#include <ros.h>
#include <ros/time.h>
#include <sensor_msgs/Range.h>
#include "Adafruit_VL53L0X.h"

ros::NodeHandle  nh;
sensor_msgs::Range range_msg;
ros::Publisher pub_range( "range_data", &range_msg);
Adafruit_VL53L0X sensor = Adafruit_VL53L0X();
VL53L0X_RangingMeasurementData_t measure;

Andrew-rw

/*
* Simple code for the L298N motor controller
* and Metal Gearmotor 37Dx52L mm with 64 CPR Encoder 
*/
#include <L298N.h>

// motor pin definition
#define M_EN 9
#define M_IN1 8
#define M_IN2 7

Andrew-rw

#include "Adafruit_VL53L0X.h"
#include "HC_SR04.h"

#define TRIG_PIN 3
#define ECHO_PIN 2
#define ECHO_INT 0

HC_SR04 sensor(TRIG_PIN, ECHO_PIN, ECHO_INT);
Adafruit_VL53L0X lox = Adafruit_VL53L0X();

Andrew-rw

Panels:
  - Class: rviz/Displays
    Help Height: 129
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /LaserScan1
        - /PointCloud21

Andrew-rw

<launch>
	<node pkg="depthimage_to_laserscan" name="depthimage_to_laserscan" type="depthimage_to_laserscan">
		<remap from="image" to="camera/depth/image_raw"/>
		<remap from="scan" to="depth_scan"/>
		<param name="output_frame_id" value="camera_depth_frame" />
		<param name="range_min" value="0.45" />
  	</node>
</launch>

Andrew-rw

<launch>
  <!-- This node description you can take from usb_cam-test.launch -->
  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
    <param name="video_device" value="/dev/video0" />
    <param name="image_width" value="640" />
    <param name="image_height" value="480" />
    <param name="pixel_format" value="yuyv" />
    <param name="camera_frame_id" value="usb_cam" />
    <param name="io_method" value="mmap"/>
  </node>