dfki_sks_laser_drivers: lzr_u901_node | rod4_node | rotoscan_node | timeutils

Package Summary

Driver for Leuze rotoScan laser rangefinder devices, publishing sensor_msgs/LaserScan messages. Currently supports devices connected via Ethernet and serial port, but could be extended to interface with other models.

• Author: Rene Wagner, Felix Kolbe
• License: BSD
• Repository: dfki-sks-ros-pkg
• Source: svn https://svn-agbkb.informatik.uni-bremen.de/dfki-sks-ros-pkg/trunk/dfki_sks_laser_drivers/rotoscan_node

Usage

This package adapts the Leuze rotoScan series of laser range finders. Therefore it behaves like any other ROS laser range finder driver and publishes a sensor_msgs/LaserScan on the "scan" topic whenever a new scan comes in.

Configuration of the laser range finder is not supported and requires a vendor-provided tool.

Formerly named rod4_node.

Supported Hardware

The driver currently supports following connection types and has been confirmed to work with following models:

• Ethernet:

  • ROD-4

• Serial port:

  • RS4 (RS232)

... but might be extended to support more interfaces or models.

Node configuration

~frame_id(string, default: "laser")

Transform frame id to be used in the message header.

~range_max(float, default: 40.)

range_max to be used in message body. Differs among models.

Ethernet specific

The underlying network protocol implementation has been stable for more than a year now. All testing has been done with a "ROD4 plus" unit.

~host(string, default: "192.168.1.1")

Hostname/IP address of the laser range finder.

~port(string, default: "9008")

Port of of the laser range finder.

Serial port specific

~device(string, default: "/dev/ttyUSB0")

Serial port device where the rotoScan is connected to.

~baudrate(int, default: 57600)

Serial baudrate configured in rotoScan.