Initial commit

Dockerfile

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+FROM ros:jazzy-ros-base-noble
+
+# Install pyserial
+RUN apt-get update && apt-get install -y \
+    python3-pip \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN pip3 install --break-system-packages pyserial
+
+# Create workspace
+WORKDIR /ros2_ws
+
+# Copy the package
+COPY ultrasonic_sensor /ros2_ws/src/ultrasonic_sensor
+
+# Build the package
+RUN . /opt/ros/jazzy/setup.sh && \
+    colcon build --packages-select ultrasonic_sensor
+
+# Source setup in bashrc for interactive use
+RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && \
+    echo "source /ros2_ws/install/setup.bash" >> ~/.bashrc
+
+# Create entrypoint script
+RUN echo '#!/bin/bash\n\
+set -e\n\
+source /opt/ros/jazzy/setup.bash\n\
+source /ros2_ws/install/setup.bash\n\
+exec "$@"' > /ros2_entrypoint.sh && \
+    chmod +x /ros2_entrypoint.sh
+
+ENTRYPOINT ["/ros2_entrypoint.sh"]
+CMD ["ros2", "run", "ultrasonic_sensor", "ultrasonic_node"]
+

docker-compose.yml

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+services:
+  ultrasonic_sensor:
+    build:
+      context: .
+      dockerfile: Dockerfile
+    container_name: ultrasonic_sensor_node
+    devices:
+      - /dev/ttyUSB0:/dev/ttyUSB0
+    # Alternative: use privileged mode if device passthrough doesn't work
+    # privileged: true
+    environment:
+      - ROS_DOMAIN_ID=0
+    # Override parameters if needed
+    # command: >
+    #   ros2 run ultrasonic_sensor ultrasonic_node
+    #   --ros-args
+    #   -p serial_port:=/dev/ttyUSB0
+    #   -p baudrate:=38400
+    restart: unless-stopped
+    # For debugging, enable interactive mode
+    # stdin_open: true
+    # tty: true
+

ultrasonic_sensor/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ultrasonic_sensor</name>
+  <version>1.0.0</version>
+  <description>ROS2 node for reading and publishing ultrasonic sensor data via serial port</description>
+  <maintainer email="i@e-rybalkin.ru">Evgenii Rybalkin</maintainer>
+  <license>MIT</license>
+
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
+

ultrasonic_sensor/setup.cfg

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+[develop]
+script_dir=$base/lib/ultrasonic_sensor
+[install]
+install_scripts=$base/lib/ultrasonic_sensor
+

ultrasonic_sensor/setup.py

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+from setuptools import find_packages, setup
+
+package_name = 'ultrasonic_sensor'
+
+setup(
+    name=package_name,
+    version='1.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='User',
+    maintainer_email='user@example.com',
+    description='ROS2 node for reading and publishing ultrasonic sensor data via serial port',
+    license='MIT',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'ultrasonic_node = ultrasonic_sensor.ultrasonic_node:main',
+        ],
+    },
+)
+

ultrasonic_sensor/ultrasonic_sensor/ultrasonic_node.py

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+#!/usr/bin/env python3
+"""ROS2 node for reading ultrasonic sensor data from serial port and publishing."""
+
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import UInt8MultiArray
+
+import serial
+import serial.tools.list_ports
+
+
+class UltrasonicSensorNode(Node):
+    """ROS2 node that reads serial data from ultrasonic sensor and publishes it."""
+
+    def __init__(self):
+        super().__init__('ultrasonic_sensor_node')
+
+        # Declare parameters
+        self.declare_parameter('serial_port', '/dev/ttyUSB0')
+        self.declare_parameter('baudrate', 38400)
+
+        # Get parameters
+        self.serial_port = self.get_parameter('serial_port').get_parameter_value().string_value
+        self.baudrate = self.get_parameter('baudrate').get_parameter_value().integer_value
+
+        # Serial connection
+        self.ser = None
+        self.is_connected = False
+
+        # Publisher
+        self.publisher = self.create_publisher(
+            UInt8MultiArray,
+            '/ultrasonic/raw_data',
+            10
+        )
+
+        # Statistics
+        self.byte_count = 0
+
+        # Connect to serial port
+        self.connect_serial()
+
+        # Timer for reading serial data (10ms interval)
+        self.timer = self.create_timer(0.01, self.read_serial_data)
+
+        self.get_logger().info(
+            f'Ultrasonic sensor node started. '
+            f'Port: {self.serial_port}, Baudrate: {self.baudrate}'
+        )
+
+    def connect_serial(self):
+        """Connect to the serial port."""
+        try:
+            self.ser = serial.Serial(
+                port=self.serial_port,
+                baudrate=self.baudrate,
+                bytesize=serial.EIGHTBITS,
+                parity=serial.PARITY_NONE,
+                stopbits=serial.STOPBITS_TWO,
+                timeout=1
+            )
+            self.is_connected = True
+            self.get_logger().info(f'Connected to {self.serial_port}')
+        except serial.SerialException as e:
+            self.is_connected = False
+            self.get_logger().error(f'Failed to connect to {self.serial_port}: {e}')
+            self.get_logger().info('Available ports:')
+            for port in serial.tools.list_ports.comports():
+                self.get_logger().info(f'  - {port.device}: {port.description}')
+
+    def read_serial_data(self):
+        """Read data from serial port and publish."""
+        if not self.is_connected or self.ser is None:
+            return
+
+        try:
+            if self.ser.in_waiting > 0:
+                # Read all available data
+                data = self.ser.read(self.ser.in_waiting)
+                self.byte_count += len(data)
+
+                if len(data) > 0:
+                    # Create and publish message
+                    msg = UInt8MultiArray()
+                    msg.data = list(data)
+                    self.publisher.publish(msg)
+
+                    # Log hex representation for debugging
+                    hex_data = data.hex(' ', 1)
+                    self.get_logger().debug(
+                        f'Published {len(data)} bytes: {hex_data}'
+                    )
+
+        except serial.SerialException as e:
+            self.get_logger().error(f'Serial read error: {e}')
+            self.is_connected = False
+
+    def destroy_node(self):
+        """Clean up resources."""
+        if self.ser and self.ser.is_open:
+            self.ser.close()
+            self.get_logger().info('Serial connection closed')
+        super().destroy_node()
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = UltrasonicSensorNode()
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
+