Data Sheet

Header

Command

Description

0x00

Ask for READING

Write this value to Multiflex via I2C and

read the distance frame. It is 18 byte long.

8*two bytes for the sensor distances+the

index of the sensor from which the last

distances has been received + one CRC

byte.

0x01

WHO_AM_IDIS

Write this value to Multiflex via I2C and

the value read from the Device will be one

byte: 0xA2

6 RunningtheTeraRangerMultiflexinROS

We provide a ROS (Robot Operating System) node which provides a topic to access the

TeraRanger Hub data stream. Please note that the TeraRanger Hub has to be configured

to work in Binary mode.

You can download the ROS node from:

https://github.com/Terabee/teraranger_hub_multiflex

To use the ROS node you need to:

● Create a ROS Workspace

● Copy the node teraranger_hub_multiflex package into the workspace src directory

● Compile using: catkin_make

● Setup environment: source devel/setup.sh

● Run** using:

rosrun teraranger_hub_multiflex teraranger_hub_multiflex_node _portname:=/dev/ttyACM0

If you want to change a sensor bitmask, run**:

rosrun rqt_reconfigure rqt_reconfigure

** Remember to execute the daemon roscore before running the rosrun command.

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www.teraranger.com

support@teraranger.com

teraranger@terabee.com

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