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## RTIS ROS General Usage
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#### Launch Publisher
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Once an RTIS Network is available you can launch the RTIS ROS Publisher with the provided [launch file](launch/rtis_publisher.launch). This will connect to the RTIS Network and publish all the sonar measurements on the correct topics.
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You can adjust this launch file to toggle on or off specific topics and give specific naming schemes for the topic names and frame ids to fit your needs. The TF-tree is automatically created and broadcasted by requesting the RTIS Client poses from the RTIS Network API.
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To use the launch file, you can use:
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```bash
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cd ~/catkin_ws/
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source ./devel/setup.bash
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roslaunch rtisros rtis_publisher.launch
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```
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#### Topics
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Depending on what you enable with the RTIS Publisher node launch parameters as seen in the [launch file](launch/rtis_publisher.launch), multiple topics are available:
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* _Pointcloud2_ topic: This will publish a 3D pointcloud of the processed RTIS sonar data with _X_, _Y_, _Z_ and _intensity_ fields all using Float32. This is an optional publisher, off by default.
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* _Image_ topic: This will publish the 2D energyscape as a float32 single channel (32FC1) image. This is an optional publisher, off by default.
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* _RTISData_ topic: This is a custom message that has the same Header as the other topics in terms of frame and timestamp. It is always enabled. It provides 4 fields:
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* _data_ field: This is an array of uint8 of the raw sonar data.
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* _microphones_ field: this is an int8 variable that tells how many microphones the raw sonar data is containing.
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* _index_ field: int32 field which tells the measurement index of the internal counter of the RTIS device.
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* _behaviour_ field: Bool field which tells if the measurement was using active or passive sonar behaviour.
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* _RTISInfo_ topic: This is a custom message that has the same Header as the other topics in terms of frame and topic naming scheme. It is always enabled. It provides you with all hardware and DSP settings used
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by that particular RTIS sensor. Please see the [message](msg/RTISInfo.msg) itself for more details on the available variables. It is a latched message so will always be available.
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#### RVIZ
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An [RVIZ configuration file](rviz/rtis.rviz) is also provided to see the pointcloud and/or the energyscape image for each connected RTIS Client. |
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\ No newline at end of file |
