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at_sonde_ros_driver

  • Software
  • Drones and boats
  • Driver or SDK

A ROS 2 driver that streams monitored parameters from an In-Situ Aqua TROLL multiparameter sonde over Modbus serial communication. It has been tested with the AT600 sonde.

Source on GitHub: github.com/ma-shangao/at_sonde_ros_driver (opens in a new tab). Facts read at commit 7c50e93 (opens in a new tab).

Licenses

Code
BSD-3-Clause (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 7c50e93 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Streams selected sonde parameters over Modbus serial and publishes each one as a Float32 ROS 2 topic.
  • Topic names are paired with register addresses through the pub_topic_names and streaming_param_reg_adds parameters.
  • Serial port, baud rate, sonde address, timeouts and retry count are all configurable as ROS parameters or via a YAML file.
  • Includes a sensor scan option that runs on first use after reconfiguration.
  • Installable as a binary package or built from source with colcon.
  • Some parameters can only be set when the node starts.

Written by Robotheca from the project's README (opens in a new tab) at commit 7c50e93.

Getting started

Difficulty
Intermediate
Hardware it needs, as the project states it
It also requires a system with ROS 2 installed; no other hardware is stated.

Maintenance

Status
Maintained: a commit in the last 12 months
Newest commit
12 Feb 2026 on main
Latest release
1.0.0 (13 May 2025)

Checked on GitHub on 16 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.