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CHAPTER 2. USBOARD-USS5

2.7. ROS NODE

2.7.4 Topics

The following ROS topics are available:

Name

Type

/usboard_v2/measurements

neo_msgs/msgs/USBoardV2

/usboard_v2/sensor1

sensor_msgs/Range

/usboard_v2/sensor2

sensor_msgs/Range

. . .
/usboard_v2/sensor16

sensor_msgs/Range

2.7.5 Multiple USBoards

In case of using multiple USBoard-USS5 simultaneously, it is possible to start multiple ROS nodes, one for each
board.

2.7.5.1 Parameters

Each ROS node needs its own yaml configuration file, see for example

neo_usboard_v2.yaml

and

neo_usboard_v2_1.yaml

https://github.com/neobotix/neo_usboard_v2/tree/main/launch

can_id

: 1024

can_device

: None

#can_device: can0

serial_port

: /dev/ttyUSB0

can_baud_rate

: 1000000

update_rate

: 5

topic_path

: /usboard_v2

can_id

: 1056

can_device

: None

#can_device: can1

serial_port

: /dev/ttyUSB1

can_baud_rate

: 1000000

update_rate

: 5

topic_path

: /usboard_v2_1

Note:

CAN IDs need to be a multiple of

0x20

, ie.

in decimal.

2.7.5.2 Launching Multiple ROS Nodes

The standard launch file

neo_usboard_v2.launch

contains an example on how to start another ROS node:

<?xml version="1.0"?>

<launch>

<rosparam

command="load" ns="usboard_v2" file="$(find neo_usboard_v2)/launch/neo_

→

usboard_v2.yaml"

<node

pkg="neo_usboard_v2" type="neo_usboard_v2" ns="usboard_v2" name="usboard_v2_

→

node" respawn="false" output="screen"

(continues on next page)

Содержание USBoard-USS5-IP

Страница 1: ...USBoard USS5 IP Neobotix GmbH Apr 21 2023 ...

Страница 2: ... 5 1 USBoard USS5 IP Connectors 6 1 5 2 USBoard USS5 IP Configuration Cable 6 1 5 3 Primary Cable Set 7 1 5 4 Secondary Cable Set 7 1 5 5 Sensors 7 1 6 Legal Notes 7 1 6 1 EU Declaration of Conformity 7 1 6 2 RoHS Information 7 2 USBoard USS5 9 2 1 Introduction 10 2 1 1 Intended Use 10 2 1 2 Improper Use 10 2 1 3 Qualified Personnel 10 2 2 Operating Principle 10 2 2 1 Basic Principle 10 2 2 2 Cros...

Страница 3: ...2 8 1 Installation 26 2 8 2 Launch 27 2 8 3 Parameters 27 2 8 4 Topics 28 2 8 5 Help 28 2 9 Graphical User Interface 28 2 9 1 Introduction 28 2 9 2 First Steps 29 2 9 3 Configuration 31 2 10 Dimensions 35 2 11 Connector Descriptions 36 2 11 1 X1 36 2 11 2 X2 X5 36 2 11 3 X6 37 2 11 4 X7 37 2 11 5 USS5 37 2 12 Additional Parts 37 2 12 1 Connectors 37 2 12 2 USBoard USS5 Configuration Cable 37 2 12 ...

Страница 4: ...3 2 Würth Elektronik MPC4 45 3 3 Würth Elektronik MPC3 46 4 Qualified Personnel 48 5 Legal Notes 49 5 1 Version Information 49 5 2 Liability 49 5 3 Downloads and Further Information 49 iii ...

Страница 5: ...more demanding environmental conditions and mounting outside of a protective cabinet Most of the basic functionality and properties of the USBoard USS5 IP are identical to the USBoard USS5 This documentation thus mainly describes the differences between the two boards 1 https neobotix docs de hardware en USBoard USS5 IP pdf 1 ...

Страница 6: ...st not be used as such It must never be used to safeguard dangerous areas or as single system for collision avoidance It is not recommended to use the USBoard USS5 IP in applications with very high requirements on measurement accuracy on reliability of the measurements or on data output speed This for example includes motion control applications like parking 1 1 3 Qualified Personnel The USBoard U...

Страница 7: ... of the Bosch USS5 ultrasonic sensors can be found here page 12 1 3 Dimensions Note The CAN terminating resistor can be activated in software either by using the GUI page 33 or by setting the corresponding flag in the parameter set page 15 The USBoard USS5 IP can be mounted in any orientation 3 ...

Страница 8: ...IP 1 4 CONNECTOR DESCRIPTIONS 1 4 Connector Descriptions 1 4 1 Connectors 1 4 1 1 Cinch ModICE ME Pins Cinch Farnell RS Components 30 pins 3 rows 581 01 30 029 2751266 664 7267 18 pins 3 rows 581 01 18 023 2751265 664 7254 4 ...

Страница 9: ...High 1H Warning Relay Output Normally Open 1J Alarm Relay Output Normally Open 1K Ground Supply 2A RS 232 RxD Receive Line 2B Ground Sensors 2C Ground Sensors 2D Ground Sensors 2E Ground Sensors 2F CAN Low 2G CAN Low 2H Warning Relay Output Normally Open 2J Alarm Relay Output Normally Open 2K Supply Voltage 3A RS 232 TxD Transmit Line 3B Sensor Supply Voltage 3C Sensor Supply Voltage 3D Sensor Sup...

Страница 10: ...or Supply Voltage 3F Sensor Supply Voltage 1 5 Additional Parts 1 5 1 USBoard USS5 IP Connectors Note An overview of the connectors for the USBoard USS5 IP can be found at Connector Descriptions page 4 A complete connector set for the USBoard USS5 IP can be ordered from Neobotix under order number X222 for customers who want to manufacture the cable set themselves 1 5 2 USBoard USS5 IP Configurati...

Страница 11: ... cables of 2 m each Other cable lengths up to 25 m and designs are available on request 1 5 4 Secondary Cable Set Customers who want to use more than eight sensors can order our secondary cable set X224 This provides another eight sensor cables of 2 m length Other cable lengths up to 25 m and designs are available on request 1 5 5 Sensors The USBoard USS5 IP uses the same sensors as the USBoard US...

Страница 12: ...6 LEGAL NOTES This product complies to the RoHS directives 2011 65 EU RoHS 2 and 2015 863 EU of the European Parliament and the Council on the restriction of the use of hazardous substances in electrical and electronic equipment 8 ...

Страница 13: ...to 16 ultrasonic sensors of type Bosch USS5 It can be used for collision detection on autonomous vehicles like mobile robot wheeled drones and other AGVs The board features easy commissioning comfortable parametrization and a wide range of custom settings Defining warning and alarm distances allows an easy detection of possible collisions Furthermore four analogue inputs are available on the board...

Страница 14: ...e 48 2 2 Operating Principle 2 2 1 Basic Principle An ultrasonic sensor creates a sound pulse that is reflected by obstacles and then returns to the sensor By measuring the time between emitting and receiving the ultrasonic pulse the USBoard USS5 is able to calculate the distance between the sensor and the closest obstacle In default mode the sensors are operated cyclically one after In cross echo...

Страница 15: ...s can receive the echo If the positions of all sensors are known it is possible to estimate the location of the detected object based on the different durations it takes the echo to reach each sensor Several aspects should be kept in mind when calculating the object s position Depending on the shape and surface of an object the ultrasound pulse is reflected or absorbed differently This is why some...

Страница 16: ...ard USS5 Supply voltage from 9 VDC up to 60 VDC max 4 W Digital communication via CAN and USB optional RS 232 Optical indicators for warning and alarm distance Solid state relay outputs for warning and alarm distance max 60 V 0 5 A Four analogue inputs 0 V 5 V Weight 71 g Storage temperature range 40 C 85 C Operation temperature range 0 C 70 C Customs tariff number 9031 9000 Order number X101 2 3 ...

Страница 17: ...objects and configurations So far we did tests with a plastic tube diameter 75 mm height 1 75 m a wooden bar width 0 1 m height 1 77 m a cardboard rectangle width 0 6 m height 0 4 m a human height 1 8 m You can download our full data set here Note Please note that the data on this page are only for reference and are no assurance of any product features Please perform your own tests to check the su...

Страница 18: ...CHAPTER 2 USBOARD USS5 2 3 TECHNICAL DATA 14 ...

Страница 19: ...OM on the USBoard USS5 or read the current values from the board The parameter set consists of 54 bytes as described below Note Several features affect groups of sensors In these cases group 0 contains sensors 1 to 4 group 1 contains sensors 5 to 8 and so on Byte 0 CAN baud rate 0 1000 kBaud default 1 500 kBaud 2 250 kBaud 3 125 kBaud 4 100 kBaud 5 50 kBaud Bytes 1 4 CAN base address default 0x400...

Страница 20: ... are set to 0 all groups will send Default is 0xF0 i e all groups transmit on request Byte 7 Bits 0 to 3 encode the transmission interval when sending continously 0 0 5 s 1 1 0 s 2 2 0 s 3 0 2 s 15 custom Bits 4 to 7 encode a custom transmission interval in 50 ms increments 0 for 50 ms 1 for 100 ms and so on Byte 8 Sensors 1 to 8 active bit coded Default is 0xFF i e all active Deactivated sensors ...

Страница 21: ...sor is added to the output value according to the filter s weight A setting of 0 3 means that the output is calculated from 70 of the previous output value and 30 of the new measurement A setting of 1 0 means that each new measurement is directly used as output value while the old value is discarded in effect deactivating the filter 2 5 Command Set 2 5 1 Command IDs The following table shows the a...

Страница 22: ...uest the USB converter can be replaced by an RS 232 transmitter This does not affect the communication protocol of the serial interface Note The RS 232 interface requires a common ground connection between the USBoard USS5 and the computer The serial interface runs at 19200 Baud Its protocol has the same format as the CAN communication except for the following addition Every message from the USBoa...

Страница 23: ...1 CMD_CONNECT Use this command to establish and check the connection to the board Command ID 0 CMD_CONNECT 0 0 0 0 0 0 0 Answer ID 1 CMD_CONNECT 1 2 3 4 5 6 7 2 6 2 CMD_SET_CHANNEL_ACTIVE This command can be used to activate or deactivate individual sensors without transmitting the complete parameter set Two bytes for the channels 1 to 8 and 9 to 16 contain the information whether the sensors shou...

Страница 24: ... 0 0 0 0 0 0 Answer two parts IDs 4 5 CMD_GET_DATA_9TO16 0 Values for sensors 9 12 one byte each 0 reserved CMD_GET_DATA_9TO16 1 Values for sensors 13 16 one byte each 0 reserved The measurement values are given according to the configured sensor group resolution see Parameter Set page 15 Note This is a legacy command The maximum value is 255 1 Byte Higher bits are not transmitted 2 6 5 CMD_WRITE_...

Страница 25: ...ameter set into the board s EEPROM The parameters are stored non volatile which means that they will be used again the next time the USBoard USS5 is switched on To comfortably configure the board use the graphical parameter editor The parameter set will immediately be used after transmission Command ID 0 The command works identically to CMD_WRITE_PARASET page 20 the only difference is the use of t...

Страница 26: ...h 4 bits of channel 0 and 1 high 4 bits of channel 3 and 4 0 2 6 9 CMD_GET_DATA This command is used to request the readings of selected sensors The selection is done by a bit mask where bit 0 stands for group 0 bit 1 stands for group 1 and so on There will be one answer message per selected group Command ID 0 CMD_GET_DATA selected groups 0 0 0 0 0 0 Answer ID 13 group_id CMD_GET_DATA info lower 8...

Страница 27: ...1 Installation 1 Clone the neo_usboard_v2 repository into your catkin workspace source folder cd your_catkin_workspace src git clone https github com neobotix neo_usboard_v2 git 2 Clone neo_msgs into your catkin workspace source folder git clone https github com neobotix neo_msgs git 3 Fetch the submodules vnx base pilot base and pilot usboard cd neo_usboard_v2 git submodule update init 4 Install ...

Страница 28: ...alog_input false if to enable reading analog inputs enable_legacy_format false if to use old message format when transmitting automatically enable_can_termination false if to connect CAN bus termination resistance on the board relay_warn_blocked_invert false if to invert warn relay output when a sensor is blocked relay_alarm_blocked_invert false if to invert alarm relay output when a sensor is blo...

Страница 29: ...board_v2 tree main launch can_id 1024 can_device None can_device can0 serial_port dev ttyUSB0 can_baud_rate 1000000 update_rate 5 topic_path usboard_v2 can_id 1056 can_device None can_device can1 serial_port dev ttyUSB1 can_baud_rate 1000000 update_rate 5 topic_path usboard_v2_1 Note CAN IDs need to be a multiple of 0x20 ie 32 in decimal 2 7 5 2 Launching Multiple ROS Nodes The standard launch fil...

Страница 30: ...command sudo usermod a G dialout USER and restart your PC 2 8 ROS 2 Node This node handles the communication of the Neobotix USBoard USS5 The USBoard USS5 node has been tested with ROS 2 Foxy on Ubuntu 20 04 Rolling and Humble on Ubuntu 22 04 Find the code of the ROS node at https github com neobotix neo_usboard_v2 2 Note We also have extended our support to Galactic and Humble Please checkout to ...

Страница 31: ...he USBoard USS5 ROS node use ros2 launch neo_usboard_v2 neo_usboard_v2 launch py 2 8 3 Parameters The following parameters can be changed according to your needs in neo_usboard_v2 yaml Parameter Value Note can_id 1024 Needs to be a multiple of 32 can_device None or can0 serial_port dev ttyUSB0 can_baud_rate 1000000 bit s Needs to match what is configured on the board update_rate 5 Hz Relevant only...

Страница 32: ...rval_ms 20 ms time between pulses sending_sensor 0 index of the sensor which will send the pulse cross echo mode cross_echo_mode false if to enable cross echo mode 2 8 4 Topics The following ROS topics are available Name Type usboard_v2 measurements neo_msgs msg USBoardV2 usboard_v2 sensor1 sensor_msgs msg Range usboard_v2 sensor2 sensor_msgs msg Range usboard_v2 sensor16 sensor_msgs msg Range 2 8...

Страница 33: ...ould create a shortcut on your desktop that you can double click to start the GUI The Linux version comes with Debian packages for the latest Ubuntu LTS versions Install the appropriate package with sudo dpkg i the_right_package deb where you replace the_right_package with the one that fits your operating system To run the GUI after the installation please use the following command opt neobotix us...

Страница 34: ...ead the board s configuration into the GUI Write to Board Transfers the parameters to the volatile memory of the USBoard USS5 After the next restart the old parameters from the non volatile memory will be used again Read from Board Reads the current configuration from the USBoard USS5 and displays it in the GUI Write to EEPROM Writes the parameters into the non volatile memory of the USBoard USS5 ...

Страница 35: ...l values in the centre of the box Note The USS5 sensors have an upper and a lower measurement limit page 12 If an object is detected closer than the lower limit the message BLOCKED is shown instead of the measurement value If no object can be detected within the measurement range at all the message TOO FAR will be shown Analogue Inputs The measurements of the analogue inputs can be found below the...

Страница 36: ...t Setting a threshold value of 0 will deactive the function for this sensor Only integer values are accepted indicating the distance in centimetres Handling Configurations You can use the buttons in the functions area to save configurations to your local computer or to reuse them later When connected you can also transfer a new configuration to a USBoard USS5 or read the current one from the board...

Страница 37: ...while the old value is discarded in effect deactivating the filter CAN Termination In case of the USBoard USS5 IP the CAN bus terminating resistor can be activated here This parameter is without function in the normal USBoard USS5 Enable Analog In Activates the use of the four analogue inputs If your application requires very short cycle times and does not use these inputs it is recommended to dis...

Страница 38: ...stest cycle time and is designed for a relatively short distance detection up to 150 cm When the object is placed at a distance of more than 150 cm there is not enough time for the sensor to receive the reflected echo within 10 ms To provide enough time for the reflected echo to be received by the sensor at the maximum distance the default firing interval is 20 ms Sender If the group operates in c...

Страница 39: ...CHAPTER 2 USBOARD USS5 2 10 DIMENSIONS 2 10 Dimensions 35 ...

Страница 40: ...MPC3 2 rows 6 pins Pin Description 1 Power Supply Input 2 CAN High 3 CAN High 4 Ground 5 CAN Low 6 CAN Low Pins 2 and 3 are bridged as well as pins 5 and 6 This allows two CAN cables CAN in and CAN out to be connected easily 2 11 2 X2 X5 Würth Elektronik MPC3 2 rows 12 pins Pin Description 1 Sensor supply voltage 2 Ground 3 Sensor data line X2 Sensor 2 X3 Sensor 6 X4 Sensor 10 X5 Sensor 14 4 Senso...

Страница 41: ...cription 1 Supply 2 Signal 3 Ground 2 12 Additional Parts 2 12 1 Connectors An overview of the connectors can be found at Connectors page 44 2 12 2 USBoard USS5 Configuration Cable The basic cable set order number X211 speeds up the configuration of the USBoard USS5 and first tests It consists of Connector X1 Connections for power supply 1 m flying leads red plus black minus and CAN 1 m female D S...

Страница 42: ...hat meet your individual requirements when moving to the actual appli cation 2 12 4 Connector Sets Neobotix offers sets of crimp contacts and connector housing for customers who plan to manufacture the cable sets by themselves and only need the correct parts These contacts can be crimped with generic tools well enough for first tests and prototyping The connector set for the USBoard USS5 order num...

Страница 43: ...CHAPTER 2 USBOARD USS5 2 12 ADDITIONAL PARTS Fig 2 Cable set for 4 x USS5 sensors X214 Fig 3 Connector set for USBoard USS5 X212 39 ...

Страница 44: ...CHAPTER 2 USBOARD USS5 2 12 ADDITIONAL PARTS Fig 4 Connector set for USS5 X213 Fig 5 Ultrasonic sensor Bosch USS5 0 X210 40 ...

Страница 45: ... used to mount the sensor on a front panel 2 13 FAQ Note This section is being extended as we get feedback from customers If your specific questions is not yet listed please either take a look into the full documentation on these pages or get in touch with us directly We will do our best to help you 41 ...

Страница 46: ...ce the cycle time needed for updating measurements from all sensors that are actually used Please take a look at the parameter set description at Parameter Set page 15 and command CMD_SET_CHANNEL_ACTIVE at Commands page 19 In some applications it might also be an option to use the Cross Echo Mode page 11 2 13 2 Connection Problems 2 13 2 1 The CAN bus reports errors Please make sure that there is ...

Страница 47: ...lfils all relevant directives of the European Union 2 14 2 RoHS Information This product complies to the RoHS directives 2011 65 EU RoHS 2 and 2015 863 EU of the European Parliament and the Council on the restriction of the use of hazardous substances in electrical and electronic equipment 43 ...

Страница 48: ... 333 4 pins 1 row 281838 4 429594 532 349 5 pins 1 row 281838 5 429600 532 355 6 pins 2 rows 281839 3 429650 532 406 8 pins 2 rows 281839 4 429661 532 412 10 pins 2 rows 281839 5 429673 532 428 12 pins 2 rows 281839 6 429685 532 434 Crimp contacts TE Connectivity Farnell RS Components AWG 28 24 182734 2 429715 532 456 44 ...

Страница 49: ...details on the MPC46 Pins in 2 rows Würth Elektronik 2 649002113322 4 649004113322 6 649006113322 8 649008113322 10 649010113322 16 649016113322 Crimp contacts Würth Elektronik AWG 24 18 64900613722 In Neobotix products the pin assignment of the MPC4 connectors is as shown below 5 https www we online com en products components overview 6 https www we online de katalog de em connectors wire to boar...

Страница 50: ...38 Pins in 2 rows Würth Elektronik 4 662004113322 6 662006113322 12 662012113322 Crimp contacts Würth Elektronik AWG 24 20 66200113722 In Neobotix products the pin assignment of the MPC3 connectors is as shown below 7 https www we online com en products components overview 8 https www we online de katalog de em connectors wire to board wr_mpc3 46 ...

Страница 51: ...CHAPTER 3 CONNECTORS 3 3 WÜRTH ELEKTRONIK MPC3 47 ...

Страница 52: ...liar with the applicable official health and safety regulations directives and generally recog nised engineering practice e g DIN standards VDE stipulations engineering regulations from other EC mem ber states that they can assess the work safety aspects of the product and have access to this manual and who have read it The following groups of persons are generally not considered qualified Employe...

Страница 53: ...y technical or typographical errors and reserves the right to make changes to the product and manual without prior notice Neobotix makes no warranty of any kind with regard to the material contained within this document including but not limited to the implied warranties of merchantability and fitness for a particular purpose Neobotix GmbH shall not be liable or responsible for incidental or conse...

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