About | Support | answers.ros.org	Search:

cob_driver: cob_base_drive_chain | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_light | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_tray_sensors | cob_undercarriage_ctrl | cob_utilities

Package Summary

This package published a laser scan message out of a Sick S300 laser scanner.

• Author: Florian Weisshardt
• License: LGPL
• Repository: care-o-bot
• Source: git git://github.com/ipa320/cob_driver.git

ROS API

The cob_sick_s300 package provides two configurable nodes for operating with the scanners.

cob_sick_s300

The cob_sick_s300 node takes in sensor_msgs/LaserScan messages and send this directly to the hardware.

Published Topics

/scan_front_raw (sensor_msgs/LaserScan)

• Publishes the single scan from a planar laser range-finder.

Parameters

~port (string, default: Required)

• Device address of can module, e.g. /dev/ttyScan1...

~baud (int, default: Required)

• -

~scan_duration (int, default: Required)

• -

~scan_cycle_time (int, default: Required)

• -

~inverted (boolean, default: Required)

• -

~scan_id (int, default: Required)

• -

~frame_id (string, default: Required)

• name of the link of the scanner in the robot_description

~scan_intervals (list of radians, default: Required)

• -

cob_scan_filter

The cob_scan_filter node takes sensor_msgs/LaserScan messages and sends a filtered copy of it to the hardware.

Subscribed Topics

/scan_front_raw (sensor_msgs/LaserScan)

• Receives the scan message.

Published Topics

/scan_front (sensor_msgs/LaserScan)

• Publishes the filtered scan message.

Usage/Examples

This package is not intended to be used directly, but with the corresponding launch and yaml files from e.g. cob_bringup in the cob_robots stack. For starting use:

roslaunch cob_bringup laser_front.launch
roslaunch cob_bringup laser_rear.launch

For including in your overall launch file use

<include file="$(find cob_bringup)/components/laser_front.launch" />
<include file="$(find cob_bringup)/components/laser_rear.launch" />

All hardware configuration is done in the cob_hardware_config package. A sample parameter file in "cob_hardware_config/cob3-3/config/laser_front.yaml" could look like this

port: /dev/ttyScan1
baud: 500000
scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
inverted: true
scan_id: 7
frame_id: /base_laser_front_link
scan_intervals: [[-1.3526, 1.361357]] #[rad] these intervals are included to the scan