This project contains an ESP32 driver to read pressure and temperature from a BMP280 sensor and a ROS driver estimate the current altitude related to sea level using the sensor's data.

• ESP32 Development KIT;
• BMP280 I2C Pressure and Temperature Sensor;
• a good computer. ( * ▽ * )=b

• ArduinoIDE;
• Python 3.5 (used version 3.5.2);
• ROS (used Kinetic).

1. Connect the BMP280 sensor to ESP32 correctly;
2. Connect the ESP32 to the computer (USB) and upload the barometer driver available at /barometer/barometer.ino;
3. Initiate ROS by typing the commands:

$ source /opt/ros/kinetic/setup.bash
$ roscore &

4. Activate the virtualenv in which the required python libraries are already installed:

$ source /venv/bin/activate

5. Run the altimeter node script at /altimeter_node/altimeter_node.py:

$ python altimeter_node/altimeter_node.py

With the sensor and Altimeter node up, the pressure, temperature and altitude estimation are published on topics:

• /pressure/data
  • type: sensor_msgs.msg.FluidPressure
• /temperature/data
  • type: sensor_msgs.msg.Temperature
• /altitude/data
  • type: geometry_msgs.msg.PointStamped
  • considering it only provides the altitude estimation, on PointStamped point data only the 'z' is filled (PointStamped.data.z)