TMP102 Temperature Sensor — ROS2 Jazzy Driver (I2C)

ROS2 Jazzy driver for the Texas Instruments TMP102 low-power digital temperature sensor over I2C.

Features

• Publishes sensor_msgs/Temperature on tmp102/temperature
• fake_mode for testing without hardware (random Gaussian data)
• I2C address configurable (0x48-0x4B via ADD0 pin)
• 12-bit normal mode and 13-bit extended mode
• Ultra-low power: 10 µA active, 1 µA shutdown
• Runtime publish_rate change via ros2 param set
• Calibration and reset services

Why this package?

There is also a ds18b20_temp driver for DS18B20. The TMP102 offers different trade-offs:

Feature	DS18B20 (ds18b20_temp)	TMP102 (this package)
Interface	1-Wire (kernel sysfs)	I2C (smbus2)
Temperature range	-55 ~ 125 °C	-40 ~ 125 °C (150 °C extended)
Temperature accuracy	±0.5 °C	±0.5 °C typical
Resolution	9-12 bit configurable	12-bit (0.0625 °C)
Conversion time	93.75-750 ms	26 ms
Max sampling rate	~1.3 Hz (12-bit)	8 Hz
Power consumption	1 mA active	10 µA active
Multi-sensor	Many on 1 GPIO pin	Up to 4 per I2C bus
Waterproof probe	Yes	No
Driver dependency	None (kernel sysfs)	smbus2

Choose ds18b20_temp for waterproof probes and unlimited sensors on one wire. Choose this package for ultra-low power, fast conversion, and standard I2C bus.

Prerequisites

• ROS 2 Jazzy
• Python 3
• Real hardware only:
  • smbus2 (pip install smbus2)

Installation

cd ~/ros2_ws
colcon build --packages-select tmp102_temp --symlink-install
source install/setup.bash

Usage

Launch (fake mode — default)

ros2 launch tmp102_temp tmp102_launch.py

Run node directly

ros2 run tmp102_temp tmp102_node.py

Real hardware (Raspberry Pi)

ros2 launch tmp102_temp tmp102_launch.py \
  params_file:=path/to/your_params.yaml

Set fake_mode: false and device_address in your YAML file.

Verify output

ros2 topic echo /tmp102/temperature

Parameters

Parameter	Type	Default	Description
fake_mode	bool	true	Generate random data without hardware
i2c_bus	int	1	I2C bus number (/dev/i2c-N)
device_address	int	0x48	I2C address (0x48-0x4B)
publish_rate	float	4.0	Publishing rate in Hz (up to 8 Hz)
frame_id	string	tmp102_link	TF frame ID
extended_mode	bool	false	13-bit extended mode (-40~150 °C)
temperature_variance	float	0.0	Temperature variance (0 = unknown)

Services

Service	Type	Description
tmp102/calibrate	std_srvs/srv/Trigger	Collect samples for 2 s, report averages
tmp102/reset	std_srvs/srv/Trigger	Clear bias, reinitialize sensor

Package Structure

tmp102_temp/
├── CMakeLists.txt
├── package.xml
├── config/
│   └── tmp102_params.yaml
├── launch/
│   └── tmp102_launch.py
├── tmp102_temp/
│   ├── __init__.py
│   └── tmp102_driver.py
├── nodes/
│   └── tmp102_node.py
├── test/
│   └── test_tmp102_node.py
├── .gitignore
├── LICENSE
├── CONTRIBUTING.md
└── README.md

Test Results

Tested on Ubuntu 24.04 (WSL2) with fake_mode: true.

Test Category	Test	Result
Topics	tmp102/temperature publishes sensor_msgs/Temperature	PASS
Services	tmp102/calibrate returns success=True	PASS
Services	tmp102/reset returns success=True	PASS
Parameters	publish_rate runtime change	PASS
Shutdown	Clean exit	PASS
Linting	pep257, flake8, copyright, xmllint	PASS

License

MIT