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## RTIS ROS General Usage
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# RTIS ROS
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ROS Node that connects to the RTIS Network to publish RTIS sensor data.
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## 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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* _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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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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