Kromek Sensor

Provides a ROS driver for interfacing with Kromek sensors.

Overview

The ROS driver requires spectrometer_driver which needs kromek_driver which relies on the kromekusb kernel module.

catkin build will build the user components; create the kromekusb kernel module manually using the install script in that folder.

Topics

• /kromek/raw: outputs a std_msgs/UInt32MultiArray message with hit counts in 100 bins for each detector attached.
• /kromek/info: outputs a std_msgs/UInt32MultiArray message with an array of device serial numbers.
• /kromek/sum: outputs a std_msgs/Int64 with the sum of hit counts of all detectors.

By default detectors sense for 1 second, so these messages are output every 1 seconds. The integration_seconds param can be set in the launch file.