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ais_bonn_drivers: mocap_optitrack | roomrider_driver | sicks300

Package Summary

This driver was developed from Player drivers for the Sick 300 for a robotics lab in the Autonomous Intelligent Systems Department at Bonn University.

• Author: Andreas Hochrath, Torsten Fiolka
• License: GPL
• Repository: ais-bonn-ros-pkg
• Source: svn http://ais-bonn-ros-pkg.googlecode.com/svn/trunk/stacks/ais_bonn_drivers/sicks300

The AIS Bonn SickS300 Driver

General Information

This package contains a driver which reads out the scan data of a Sick(R) S300 Professional via the lasers serial interface.

Getting started

Make sure that all dependencies are satisfied:

rosmake sicks300 sicks300

Run the node:

rosrun sicks300 sick300_driver

Messages

Published Topics

/laserscan (sensor_msgs/LaserScan)

• Scan data

Parameters

~frame (String, default: "base_laser_link")

• Laser frame

~send_transform (int, default: 1)

• Send Transform from base_link to base_laser_link.

~tf_x (double, default: 0.115)

• Transformation along x-axis

~tf_y (double, default: 0.0)

• Transformation along y-axis

~tf_z (double, default: 0.21)

• Transformation along z-axis

~reduced_fov (int, default: 0)

• Reduces the field of view to 180 degrees.

~devicename (String, default: "/dev/sick300")

• Port connected to laser.

~baudrate (int, default: 500000)

• Sets the baud rate