The current package measures the altitude above mean sea level (AMSL).
The packaged is build to read an BMP180 Sensor. Software requirements are described in the root folder of this repository
Clone the repository and build through catkin_make:
cd ~/catkin_ws/src
git clone https://github.com/hl49/uav_gimbal.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
Allow execution permission to the altimeter_node.py file
cd ~/catkin_ws/src/uav_gimbal/altimeter/scripts
chmod +x altimeter_node.py
3.1 In order to run the altimeter node run the command:
rosrun altimeter altimeter_node.py
3.2 The BMP180 data is publish in the default topic /altimeter/BMP180, which is a custom topic with the structure described bellow:
std_msgs/Header header
float32 altitude
float32 temperature
The altitud is given in meters and the temperature in Celsius degrees