Index of /hyko-dataset/qmini_ros

	Name	Last modified	Size	Description
	Parent Directory		-
	qmini_ros.zip	2017-10-22 23:37	260K

# Package Description

This package brings a ROS driver for the Qmini spectrometer. This package is the second
version, which is not compatible with the first one. The new version supports automatic adjustment of the exposure time, to both prevent over-exposure and maximize the dynamic range of the measurements. While the old version messages only contained a header with timestamps and IDs, a float array for wavelengths and a uint16 array for amplitudes, the new package changes the amplitude array's type to uint32. Also, a clipping indicator boolean is added, that is set true if the amplitudes exceed the value that garuantees almost linear behaviour. The exposure time is also contained in the message, as well as the highest amplitude of the measured spectrum. The amplitudes are now normalized in respect to the exposure times, so measurements taken with different exposure time can be directly compared, as they represent the same effective incoming light.

# Dependencies

The package needs ROS as well as the libftd2xx. You can obtain and set it up with these commands:

cd /tmp/
wget http://www.ftdichip.com/Drivers/D2XX/Linux/libftd2xx-x86_64-1.3.6.tgz
tar -xaf libftd2xx-x86_64-1.3.6.tgz
cd release/build
sudo cp libftd2xx.* /usr/local/lib
sudo chmod 0755 /usr/local/lib/libftd2xx.so.1.3.6
sudo ln -sf /usr/local/lib/libftd2xx.so.1.3.6 /usr/local/lib/libftd2xx.so