DS18B20 Temperature Sensor — ROS2 Jazzy Driver (1-Wire)

ROS2 Jazzy driver for the Dallas DS18B20 digital temperature sensor over the Linux 1-Wire (w1) sysfs interface.

Features

• Publishes sensor_msgs/Temperature on ds18b20/temperature
• fake_mode for testing without hardware (random Gaussian data)
• Auto-detects first DS18B20 device on the 1-Wire bus
• Configurable resolution (9-12 bit)
• CRC validation via kernel w1-therm driver
• Rejects 85°C power-on-reset artifact
• Runtime publish_rate change via ros2 param set
• Calibration and reset services

Why this package?

There are several temperature sensors with ROS2 drivers. The DS18B20 is unique for its waterproof probe variants and 1-Wire multi-sensor bus:

Feature	SHT31 (sht31_env)	DHT22 (dht22_env)	DS18B20 (this package)
Interface	I2C	Proprietary GPIO	1-Wire (kernel sysfs)
Measures	Temp + Humidity	Temp + Humidity	Temperature only
Temperature range	-40 ~ 125 °C	-40 ~ 80 °C	-55 ~ 125 °C
Temperature accuracy	±0.2 °C	±0.5 °C	±0.5 °C
Resolution	0.015 °C (fixed)	0.1 °C (fixed)	0.0625 ~ 0.5 °C (configurable)
Max sampling rate	~66 Hz	~0.5 Hz	~1.3 Hz (12-bit)
Multi-sensor bus	2 per I2C bus	1 per GPIO	Many on 1 GPIO pin
Waterproof probe	No	No	Yes (widely available)
Price	~$6-14	~$2-4	~$1-3
Driver dependency	smbus2	adafruit-circuitpython-dht	None (kernel sysfs)

Choose this package for waterproof temperature monitoring, multi-sensor setups on a single wire, or when no external Python library is desired.

Prerequisites

• ROS 2 Jazzy
• Python 3
• Real hardware only:
  • 1-Wire kernel modules enabled: dtoverlay=w1-gpio in /boot/config.txt
  • 4.7k Ohm pull-up resistor between data line and 3.3V

Installation

cd ~/ros2_ws
colcon build --packages-select ds18b20_temp --symlink-install
source install/setup.bash

Usage

Launch (fake mode — default)

ros2 launch ds18b20_temp ds18b20_launch.py

Run node directly

ros2 run ds18b20_temp ds18b20_node.py

Real hardware (Raspberry Pi)

ros2 launch ds18b20_temp ds18b20_launch.py \
  params_file:=path/to/your_params.yaml

Set fake_mode: false in your YAML file. Optionally set device_id to a specific sensor (e.g., 28-00000221bf22); leave empty for auto-detection.

Verify output

ros2 topic echo /ds18b20/temperature

Parameters

Parameter	Type	Default	Description
fake_mode	bool	true	Generate random data without hardware
device_id	string	""	1-Wire device ID (auto-detect if empty)
resolution	int	12	ADC resolution in bits (9, 10, 11, or 12)
publish_rate	float	1.0	Publishing rate in Hz (max ~1.3 Hz at 12-bit)
frame_id	string	ds18b20_link	TF frame ID
temperature_variance	float	0.0	Temperature variance (0 = unknown)

Services

Service	Type	Description
ds18b20/calibrate	std_srvs/srv/Trigger	Collect samples for 5 s, report averages
ds18b20/reset	std_srvs/srv/Trigger	Clear bias, reinitialize sensor

Package Structure

ds18b20_temp/
├── CMakeLists.txt
├── package.xml
├── config/
│   └── ds18b20_params.yaml
├── launch/
│   └── ds18b20_launch.py
├── ds18b20_temp/
│   ├── __init__.py
│   └── ds18b20_driver.py
├── nodes/
│   └── ds18b20_node.py
├── test/
│   └── test_ds18b20_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	ds18b20/temperature publishes sensor_msgs/Temperature	PASS
Services	ds18b20/calibrate returns success=True	PASS
Services	ds18b20/reset returns success=True	PASS
Parameters	publish_rate runtime change	PASS
Shutdown	Clean exit	PASS
Linting	pep257, flake8, copyright, xmllint	PASS

License

MIT