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Processing

This service performs the following steps:

  1. Send an I2C signal to the URM09 sensor to read the latest distance value
  2. This distance is encoded in the DistanceSensorOutput message which is written to the distance stream

Driver Implementation​

We have implemented the communication with the URM09 sensor directly in Go which can be found under src/urm09.go. It thus does not deppend on any 3rd party drivers.

Refresh Rate​

You will most likely want to use this service together with an imaging service to brake the Rover when it is close to hitting a wall. Be aware that the refresh rate of this sensor is quite low (but configurable), so you might slow down your service if you read from this service in your main loop.

We advise to use a threaded solution in case you want to use this service. See the "knowing more" series on the ASE website for more information.