Ping360 ROS Python Driver

[EliotBR (Eliot)]

@SirJansen

Those links were very insightful and I have the program working correctly now.

Glad to hear it!

@SirJansen

… I read somewhere that the transmit frequency should also be attenuated based on a few other parameters for clarity. I was wondering what you’d recommend for this aspect.

Can you provide a link to where you read that? I’m not sure of the context.

If it’s relevant, the Ping Viewer docs description may be helpful:

@Ping Viewer - Ping360 Device Settings

• Transmit Frequency: Changes the frequency of the emitted pulse. Lower frequencies are less absorbed by water, but the Ping360 transducer is tuned to 750kHz and less sensitive to other frequencies. Practically recommended to stay within 650-850kHz. Can make minor changes to account for the doppler effect if consistently moving quickly (e.g. if moving at 1.5m/s (BlueROV2 max forward speed) reduce by 1-3kHz to optimise receiver sensitivity to objects being approached). May be useful for reducing interference to other nearby sensors with a similar acoustic range sensitivity.

Alternatively, if you actually meant the transmit_duration,

@EliotBR

The Ping Viewer implementation … covers the actual set_range functionality, which calculates the sample period (calculateSamplePeriod) from the currently specified sound speed and number of samples, and updates the transmit duration (adjustTransmitDuration) to stay within reasonable limits for the sensor.