Valeport Hyperion Chlorophyll a ROS 2 Driver

This repository contains a ROS 2 driver for the Valeport Hyperion Chlorophyll a Fluorometer sensor, used for underwater chlorophyll a measurement. The driver allows for communication between the Hyperion Chlorophyll a sensor and a ROS 2-based system, enabling the integration of chlorophyll a data into robotic applications.

Link to official website of the vendor: Valeport Hyperion Chlorophyll a

Installation

To install the driver, follow these steps:

1. Clone the repository:

   git clone https://github.com/NinjaTuna007/hyperion-chlorophyll-a-driver.git

2. Navigate to the project directory:

   cd hyperion_chlorophyll_driver

3. Install dependencies:

   rosdep install --from-paths src --ignore-src -r -y

4. Build the package:

   colcon build

5. Source the setup file:

   source install/setup.bash

Usage

To run the driver, use the following command:

ros2 launch valeport_hyperion_chlorophyll_driver hyperion_chlorophyll.launch.py

This will start the driver and begin publishing chlorophyll a data to the appropriate ROS 2 topics.

To run the chlorophyll decoder, use the following command:

ros2 run valeport_hyperion_chlorophyll_driver chlorophyll_decoder

This will start the decoder and begin processing the raw chlorophyll a data.

Configuration

The driver settings can be configured using the config.yaml file located in the config/ directory. Example configuration:

port: /dev/ttyUSB0
baudrate: 115200
beam_width: 30
multibeam: true

File Structure

The project directory is structured as follows:

valeport_hyperion_chlorophyll_driver/
├── CMakeLists.txt
├── README.md
├── package.xml
├── config/
│   └── config.yaml
├── data/
│   └── test_data.json
│   └── raw.txt
├── launch/
│   └── hyperion_chlorophyll.launch.py
├── src/
│   ├── serial_reader/
│   │   ├── serial_reader_node.py  # Node for reading data from the sensor
│   ├── data_processor/
│   │   ├── data_processor_node.py  # Node for processing chlorophyll data
│   ├── tests/
│   │   ├── test_driver.py
├── msg/
│   └── ChlorophyllData.msg
└── docs/
    ├── datasheet.pdf
    └── user_manual.pdf

• CMakeLists.txt: The CMake build configuration file.
• README.md: This readme file.
• package.xml: The ROS 2 package configuration file.
• config/: Directory containing configuration files.
  • config.yaml: Configuration file for the driver settings.
• launch/: Directory containing launch files.
  • hyperion_chlorophyll.launch.py: Launch file to start the Hyperion Chlorophyll a driver.
• src/: Source code directory.
  • serial_reader/: Directory containing scripts needed to read data from the sensor.
    • serial_reader_node.py: Script for low-level communication with the Hyperion Chlorophyll a sensor.
  • data_processor/: Directory containing scripts needed for processing the raw data.
    • data_processor_node.py: Script for processing the raw data and publishing it to a new topic.
  • tests/: Directory containing test scripts.
    • test_driver.py: Test script to check that both nodes are up and running in the intended manner.
• msg/: Directory containing message files.
  • ChlorophyllData.msg: Message definition for the chlorophyll a data.
• docs/: Directory containing documentation files.
  • datasheet.pdf: Datasheet for the Valeport Hyperion Chlorophyll a sensor.
  • user_manual.pdf: User manual for the Valeport Hyperion Chlorophyll a sensor.
• data/: Directory containing data files.
  • test_data.json: Mock data for testing the driver.
  • raw.txt: Raw data from the sensor.

Topics

The driver publishes the following ROS 2 topics:

• /chlorophyll/raw_data: Contains the raw chlorophyll a data from the Hyperion Chlorophyll a sensor.
• /chlorophyll/processed_data: Contains the processed chlorophyll a data from the Hyperion Chlorophyll a sensor.

Services

The driver provides the following ROS 2 services:

• /chlorophyll/reset: Resets the Hyperion Chlorophyll a device.

Parameters

The driver uses the following ROS 2 parameters:

• ~port: The serial port to which the Hyperion Chlorophyll a is connected (default: /dev/ttyUSB0).
• ~baudrate: The baud rate for the serial communication (default: 115200).

Roles of the various Python Scripts

src/serial_reader/serial_reader_node.py

This script handles the low-level communication with the Valeport Hyperion Chlorophyll a sensor. It reads raw data from the sensor via a serial connection and publishes it to ROS 2 topics.

src/data_processor/data_processor_node.py

This script is a ROS 2 node that subscribes to the raw data topic published by serial_reader_node.py and processes the data into a more structured format, which it then publishes to another topic.

tests/test_driver.py

This script is a test script that checks if the driver is up and running. It is used to verify that the driver is functioning correctly using mock data stored inside data/test_data.json.

Contributing

Contributions are welcome! Please fork the repository and submit a pull request.

License

This project is licensed under the MIT License - see the LICENSE file for details.