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Only released in EOL distros:  

lse_arduino: ardusim

Package Summary

Ardusim (Arduino Sensor Interface Module) is a library for interfacing a wide range of sensors with ROS over the Arduino microcontroller.


This package was design to work as a bridge between a wide range of sensors (analog, i2c, spi) and ROS using the arduino.

Supported Hardware

The following sensors are currently supported by ardusim:



gp_node or general purpose node, is a general implementation of the ardusim protocol. This node will ask the arduino which sensors are currently connected and start publishing all available sensors.

Published Topics

range (lse_sensor_msgs/Range) nose (lse_sensor_msgs/Nostril) tpa (lse_sensor_msgs/TPA) wind (lse_sensor_msgs/Anemometer)


~port (string, default: /dev/ttyUSB1) ~sonar_frame_id (string, default: /base_sonar) ~nose_frame_id (string, default: /base_nose) ~tpa_frame_id (string, default: /base_tpa) ~anemometer_frame_id (string, default: /base_anemometer)


The nose_node was designed for the LSE MOX nose equipped with the Figaro 2620 and 2600 MOX sensors. This is the setup used on the LSE Roomba.

Published Topics

nose (lse_sensor_msgs/Nostril)


~port (string, default: /dev/ttyUSB1) ~frame_id (string, default: /base_nose)


The roomba_sonar_node was created for the LSE Roombas equipped with an array of 5 Devantech SRF08 rangers.

Published Topics

sonars (lse_sensor_msgs/Range)


~port (string, default: /dev/ttyUSB1) ~frame_id (string, default: /base_sonar)


The thermistor_node was created for facilitating the thermistor based anemometer calibration.

Published Topics

thermistors (lse_sensor_msgs/Thermistor)


~port (string, default: /dev/ttyUSB1) ~frame_id (string, default: /base_thermistor)

Custom Nodes

Ardusim is also available as a library on the ardusim package. This can be used to make custom nodes with any desired combination of sensors. To start your own node check the Code API page.

Arduino Source Code

The Ardusim source code for the arduino can be downloaded from the isr-uc-ros repository from the downloads section.

Communication Protocol Documentation

The Ardusim protocol is described in ardusim_protocol.pdf.

2020-04-18 12:28