CALYPSO - ROS2 Driver

CALYPSO - ROS2 Driver is a ROS2 driver for ultrasonic anemometers, which communicate via UART technology. Once the project is launched, the ROS2 node starts receiving data and publishes a WindSpeed message on the wind_speed_data topic. This message contains the following fields:

• std_msgs/Header header
• float32 wind_spd - wind speed value.
• int32 wind_dir - wind direction value.

The USB port, baud rate, and logging to a file (enable or disable) can be configured via a configuration file.

Features:

• Interface with Calypso anemometers via UART.
• Publish real-time wind speed and direction data in a ROS2 message.
• Save time, wind speed, and direction to a CSV file.

Requirements

• ROS2 (Humble, Jazzy).
• Calypso anemometer with UART communication capability.
• Ubuntu 24.04.2 LTS (or compatible Linux distribution).

Supported Anemometers

This driver was tested on the following anemometer models:

• CALYPSO Ultra-Low-Power Ultrasonic Wind Meter (ULP Standard)

If you are using a different model of ultrasonic anemometer, additional modifications may be required to support it.

Nodes

• calypso_ros:
  • Responsible for interfacing with the anemometer, receiving data, and publishing it to the ROS2 system.

Topics

• wind_speed_data:
  • Type: calypso_ros_driver_msgs/msg/WindSpeed
  • Publishes wind speed and direction data measured by the anemometer

Parameters

The following parameters can be configured via a configuration file:

• usb_port: USB port to which the anemometer is connected (e.g., /dev/ttyUSB0).
• baud_rate: Baud rate for UART communication (e.g., 9600).
• logging: Boolean parameter to enable or disable logging to a CSV file.
• log_directory: Define the log directory.

Run it

1. Clone the repository into your ROS2 workspace:
   • git clone https://github.com/247340/calypso_ros_driver.git
2. Install dependencies from your root directory:
   • rosdep install --from-paths src --ignore-src -r -y
3. build it:
   • colcon build
4. run it:
   • ros2 launch calypso_ros_driver calypso_ros_driver_launch.py