# Ping360 ROS Python Driver

**URL:** <https://discuss.bluerobotics.com/t/ping360-ros-python-driver/13725>\
**Category:** Ping Sonar Devices\
**Tags:** ping, sonar\
**Created:** [February 21, 2023, 3:41pm UTC](https://discuss.bluerobotics.com/t/ping360-ros-python-driver/13725 "2023-02-21T15:41:02Z")\
**Posts on this page:** 1\
**Showing post:** 4

<div class="post-metadata">

**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\
**Post date:** [February 24, 2023, 4:06am UTC](https://discuss.bluerobotics.com/t/ping360-ros-python-driver/13725/4 "2023-02-24T04:06:51Z")

</div>

> [@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](http://docs.bluerobotics.com/ping-viewer/device-settings-ping360/) may be helpful:

> [@Ping Viewer - Ping360 Device Settings](#):
>
> - **Transmit Frequency:** Changes the frequency of the emitted pulse. [Lower frequencies are less absorbed by water](http://resource.npl.co.uk/acoustics/techguides/seaabsorption/physics.html), 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`,

> [@Changing the Ping360 scan distance](https://discuss.bluerobotics.com/t/changing-the-ping360-scan-distance/11762/4):
>
> The Ping Viewer implementation … covers the actual [`set_range`](https://github.com/bluerobotics/ping-viewer/blob/master/src/sensor/ping360.h#L176-L203) functionality, which calculates the sample period ([`calculateSamplePeriod`](https://github.com/bluerobotics/ping-viewer/blob/master/src/sensor/ping360.cpp#L613-L629)) from the currently specified sound speed and number of samples, and **updates the transmit duration ([`adjustTransmitDuration`](https://github.com/bluerobotics/ping-viewer/blob/master/src/sensor/ping360.h#L438-L465)) to stay within reasonable limits for the sensor.**

---

_[View the full topic](https://discuss.bluerobotics.com/t/ping360-ros-python-driver/13725)._