Lidar FishFinder Project

ROS Projects
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1

Hello Its Jay -
Well, I have designed, bought and built the beginning stages of a lidar fish finder.

fishviewerdesign
fishviewerdesign944×450 7.97 KB

It has a screen portion, running on 12 v down to 5v and 3.3v, with a Raspberry Pi 4 8gb and
433 mhz TX transmitter, 433mhz RX receiver that send the uart signal to the capsule end that can be submerged on a rod. The capsule has local 12 v aswell stepped down to 5v and 3.3v as well as TX, RX on 433 mhz.
CHECKOUT WHAT I HAVE SO FAR…

IMG_20230721_140533_038
IMG_20230721_140533_0381080×810 172 KB

IMG_20230721_153904_575 (2)
IMG_20230721_153904_575 (2)1920×2560 173 KB

I have installed melodic for now, and may change later.

programs:
lidar.py

##################################################################################
#!/usr/bin/env python3
##################################################################################
import serial
import rospy
from sensor_msgs.msg import LaserScan
import laser_geometry.laser_geometry as lg
import math
import numpy as np
from matplotlib import cm
import matplotlib.pyplot as plt
import mpl_toolkits.mplot3d
import matplotlib.animation as animation
##################################################################################
###### LaserScan #################################################################
##################################################################################
def laserscan():
    msg = LaserScan()
    msg.angle_min = -1.57
    msg.angle_min = -1.57
    msg.angle_max = 1.57
    msg.angle_increment = 0.1
    msg.time_increment = 0.001
    msg.scan_time = 0.05
    msg.range_min = 0.0
    msg.range_max = 10.0
    msg.ranges = [1.0] * int((msg.angle_max - msg.angle_min) / msg.angle_increment)
    return msg
##################################################################################
msg = laserscan()
print (msg)

… a lot of work here to go

fishviewer.launch

<launch>
<node pkg="fishviewer" launch-prefix="sudo" name="fishviewer" type="lidar.py" output="screen">
  <param name="serial_port"         type="string" value="/dev/ttyS0"/>
  <param name="serial_baudrate"     type="int"    value="921600"/>
  <param name="frame_id"            type="string" value="laser"/>
  <param name="inverted"            type="bool"   value="false"/>
  <param name="angle_compensate"    type="bool"   value="true"/>
 </node>
</launch>

I HOPE THIS IS INTERESTING AND YOU WANT TO CHAT>>>>>
im building this all this current week so i will be back w/ updates!!!

4 Likes
2

It is very interesting, I love it! Already looking forward to the updates.

I have installed melodic for now, and may change later.

Yes, ROS 2 Iron :wink: When you’re ready to change.