Kernel-ROS Sensor Dashboard

Description

Complete real-time sensor monitoring system that reads data from I2C devices through custom kernel modules and provides multiple interfaces for visualization and data publishing.

Features

• TMP102 Temperature Sensor (±0.5°C precision)
• BMP280 Pressure and Temperature Sensor
• ADS1115 16-bit ADC (4 channels)
• Custom Linux Kernel Modules
• Qt GUI Dashboard with real-time gauges
• ROS2 Node for sensor data publishing
• Command-line monitoring tool

Architecture

Prerequisites

sudo apt update sudo apt install build-essential linux-headers-$(uname -r) sudo apt install qt5-default cmake sudo apt install ros-humble-desktop python3-colcon-common-extensions

1. Kernel Modules

cd kernel_modules make sudo insmod tmp102.ko sudo insmod bmp280.ko sudo insmod ads1115.ko

2. User Application

cd user_application gcc -o user_dashboard user.c

3. Qt GUI

cd graphicsviewer qmake SensorDashboardGUI.pro make

4. ROS2 Node

cd ros2_ws colcon build --packages-select sensors_publisher source install/setup.bash

Usage

Command-line

./user_dashboard Output: TMP102: Temperature = 25.50 °C BMP280: Temperature = 24.80 °C, Pressure = 1013.25 hPa ADS1115: Channel 0 = 1.234 V

Qt GUI

cd graphicsviewer ./SensorDashboardGUI

ROS2

ros2 run sensors_publisher sensor_publisher ros2 topic echo /tmp102/temperature

ROS2 Topics

• /tmp102/temperature (std_msgs/Float32) - 2Hz
• /bmp280/temperature (std_msgs/Float32) - 1Hz
• /bmp280/pressure (std_msgs/Float32) - 1Hz
• /ads1115/voltage (std_msgs/Float32MultiArray) - 4Hz

Update Intervals

• TMP102: 500ms
• BMP280: 1 second
• ADS1115: 250ms

Device Files

• /dev/tmp102
• /dev/bmp280
• /dev/ads1115

Troubleshooting

Kernel Modules

dmesg | tail -20 i2cdetect -y 1 sudo chmod 666 /dev/tmp102 /dev/bmp280 /dev/ads1115

ROS2

echo $ROS_DISTRO source /opt/ros/humble/setup.bash

Qt

qmake --version sudo apt install libqt5charts5-dev

Dependencies

• Linux kernel 4.15+
• I2C interface enabled
• ROS2 Humble or newer
• Qt5 development libraries
• GCC compiler

Git Branches

• main: Stable production code
• graphics: GUI development
• dev-kernel: Kernel module development
• ros_publisher_value: ROS2 node features

Future Features

• Real-time plotting in Qt GUI
• Logging sensor values to file
• ROS2 services for calibration
• Web-based dashboard interface
• Mobile app support

Notes

• Runs on Linux with ROS2 Humble or later
• Requires Qt5 for GUI
• Kernel modules must be loaded before running GUI or ROS2 node
• I2C devices must be properly connected and detected

Support

For issues:

• Check kernel messages with dmesg
• Verify I2C device detection
• Ensure proper permissions on device files
• Confirm ROS2 environment is sourced

Version

Compatibility: Linux Kernel 4.15+, ROS2 Humble, Qt5.12+