ROS Programming: Building Powerful Robots

Arduino-ROS, example - ultrasonic distance sensor

One of the useful sensors in robots are the range sensors. One of the cheapest range sensor is the ultrasonic distance sensor. The ultrasonic sensor has two pins for handling input and output, called Echo and Trigger.

We are using the HC-SR04 ultrasonic distance sensor and the circuit is shown in the following image:

Figure 14 : Plotting ADXL 335 values using rqt_plot

The ultrasonic sound sensor contains two sections: one is the transmitter and the other is the receiver. The working of the ultrasonic distance sensor is, when a trigger pulse of a short duration is applied to the trigger pin ...