2.5 Command Set .............................................. 17
2.5.1 Command IDs .......................................... 17
2.5.2 CAN Communication ...................................... 17
2.5.3 USB / Serial Interface ...................................... 18
2.6 Commands ................................................ 19
2.6.1 CMD_CONNECT ....................................... 19
2.6.2 CMD_SET_CHANNEL_ACTIVE ............................... 19
2.6.3 CMD_GET_DATA_1TO8 ................................... 20
2.6.4 CMD_GET_DATA_9TO16 ................................... 20
2.6.5 CMD_WRITE_PARASET ................................... 20
2.6.6 CMD_WRITE_PARASET_TO_EEPROM ........................... 21
2.6.7 CMD_READ_PARASET .................................... 21
2.6.8 CMD_GET_ANALOGIN ................................... 22
2.6.9 CMD_GET_DATA ....................................... 22
2.7 ROS Node ................................................ 23
2.7.1 Installation ........................................... 23
2.7.2 Launch ............................................. 24
2.7.3 Parameters ........................................... 24
2.7.4 Topics .............................................. 25
2.7.5 Multiple USBoards ....................................... 25
2.7.6 Help ............................................... 26
2.8 ROS 2 Node ............................................... 26
2.8.1 Installation ........................................... 26
2.8.2 Launch ............................................. 27
2.8.3 Parameters ........................................... 27
2.8.4 Topics .............................................. 28
2.8.5 Help ............................................... 28
2.9 Graphical User Interface ......................................... 28
2.9.1 Introduction ........................................... 28
2.9.2 First Steps ............................................ 29
2.9.3 Configuration .......................................... 31
2.10 Dimensions ................................................ 35
2.11 Connector Descriptions ......................................... 36
2.11.1 X1 ................................................ 36
2.11.2 X2 - X5 ............................................. 36
2.11.3 X6 ................................................ 37
2.11.4 X7 ................................................ 37
2.11.5 USS5 .............................................. 37
2.12 Additional Parts ............................................. 37
2.12.1 Connectors ........................................... 37
2.12.2 USBoard-USS5 Configuration Cable .............................. 37
2.12.3 Sensor Cable Sets ........................................ 38
2.12.4 Connector Sets ......................................... 38
2.12.5 Ultrasonic Sensors ....................................... 38
2.12.6 USS5 Mounting Frames .................................... 41
2.13 FAQ .................................................... 41
2.13.1 General Questions ....................................... 42
2.13.2 Connection Problems ...................................... 42
2.14 Legal Notes ................................................ 42
2.14.1 EU Declaration of Conformity ................................. 43
2.14.2 RoHS Information ....................................... 43
3 Connectors 44
3.1 TE Connectivity - HE14 ......................................... 44
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