1. SIR-3500 ROS2 Sample Code

sir3500_ros2_sample_code_v1.0.zip

2. Package contents

sir3500_ros2_sample_code/
└── src/
    ├── sir3500/            # UART Receive and Publish Node
    └── sir3500_msgs/       # Message definition

3. Build and Run

cd sir3500_ros2_sample_code
colcon build
source install/setup.bash

ros2 run sir3500 sir3500_uart_node --ros-args \
  -p device:=/dev/ttyUSB0 \
  -p baudrate:=460800

3.1 Parameter

Parameter Default Description
device /dev/ttyUSB0 Path connected to SIR3500
baudrate 460800 SIR3500 Uart Baudrate

4. Topics

Topic Message type
sir3500/gga sir3500_msgs/Gga
sir3500/rmc sir3500_msgs/Rmc
sir3500/ths sir3500_msgs/Ths
sir3500/sir sir3500_msgs/Sir

5. Message structure