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psen_scan package from psen_scan repo

psen_scan

Package Summary

Tags No category tags.
Version 1.0.1
License LGPLv3
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/PilzDE/psen_scan.git
VCS Type git
VCS Version melodic-devel
Last Updated 2019-11-25
Dev Status DEVELOPED
Released RELEASED

Package Description

The psen_scan package for Pilz laser scanner

Additional Links

No additional links.

Maintainers

  • Alexander Gutenkunst
  • Christian Döhn
  • Giuseppe Sansone
  • Sascha Heinisch

Authors

No additional authors.

PILZ Safety Laserscanner PSENscan

Package: psen_scan

The psen_scan package is a ROS integration of the PSENscan Safety laser scanner product. It allows for an easy integration of the Laserscanner-data into your ROS-Environment. Using the standard sensor_msgs/LaserScan message format ensures compatibility with other laserscan-post-processing nodes such as gmapping.

Pilz Safety Laserscanner

Type Features Order number
Common features:
  • compliant and approved in accordance with: EN/IEC 61496-1: Type 3, EN ISO 13849-1: PL d, IEC 61508: SIL 2
  • opening angle: 275°
  • operating range: 3.0 or 5.5 m safety zone, 40 m warning zone
  • reaction time: 62 ms
  • Protection type: IP65
  • Dimensions (H x W x D) in mm: 152 x 102 x 112.5
Light versions Additional features: Muting, EDM, Override
PSEN sc L 3.0 08-12 3.0 m safety zone, 8 or 12-pin exchangeable memory module 6D000012
PSEN sc L 5.5 08-12 5.5 m safety zone, 8 or 12-pin exchangeable memory module 6D000013
Master versions Additional features: Muting, EDM, Override, restart in accordance with EN ISO 61496-3, vertical applications
PSEN sc M 3.0 08-12 3.0 m safety zone, 8 or 12-pin exchangeable memory module 6D000016
PSEN sc M 5.5 08-12 5.5 m safety zone, 8 or 12-pin exchangeable memory module 6D000017

Table of Contents

  1. Setup
  2. ROS API
  3. Usage

Setup

Needed Equipment: - PSENscan Safety laser scanner - ROS Machine

ROS API

Published Topics

/laser_scanner/scan (sensor_msgs/LaserScan)
Publishes a complete scan from the PSENscan Safety laser scanner.

Parameters

password (string, default: "ac0d68d033")
Password for Safety laser scanner.

host_ip (string, default: "192.168.0.50")
IP-Address of host machine.

host_udp_port (int, default: 55115)
UDP Port on which packets from Safety laser scanner should be received.

sensor_ip (string, default: "192.168.0.10")
IP-Address of Safety laser scanner.

frame_id (string, default: "scanner")
Identifier used for transformations within ROS environment.

skip (int, default: 0)
How many incoming frames should be skipped (reduces publish rate).

angle_start (float, default: 0)
Start angle of measurement.

angle_end (float, default: 275)
End angle of measurement.

publish_topic (string, default: "scan")
Topic to publish LaserScan data on.

node_name (string, default: "laser_scanner")
Name of Node in ROS Environment. Useful when using multiple Scanners.

Usage

To start reading from the Safety laser scanner and publishing complete scans execute roslaunch psen_scan psen_scan.launch in a command line. This will launch the ROS Node with the default configuration.

If you wish to set parameters from the command line, add them to the end of the command as follows: parameter:=value, separated by spaces.

roslaunch psen_scan psen_scan.launch host_ip:=192.168.0.20 host_udp_port:=3050

This example configures the Safety laser scanner to send it´s frames to 192.168.0.20:3050.

You need further information?

Our international hotline staff will support you individually about our ROS packages at ros@pilz.de

Find more information about the Pilz manipulator module on the product website.

Visit us at pilz.com

Pilz is an international-scale, innovative automation technology company. Pilz uses its solutions to create safety for man, machine and the environment. In addition to head office in Ostfildern near Stuttgart, the family business is represented over 2,400 employees at 42 subsidiaries and branches on all continents.

The company’s products include sensor technology, electronic monitoring relays, safety relays, configurable and programmable control systems, automation solutions with motion control, systems for industrial communication as well as visualization solutions and operator terminals.

Pilz solutions can be used in all areas of mechanical engineering, including the packaging and automotive sector, plus the railway technology, press and wind energy sectors. These solutions ensure that baggage handling systems run safely at airports and funiculars or roller coasters travel safely; they also guarantee fire protection and energy supply in buildings.

CHANGELOG

Changelog for package psen_scan

1.0.1 (2019-11-25)

  • Initial Commit.
  • Contributors: Giuseppe Sansone

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/psen_scan.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
      • password [default: ac0d68d033]
      • host_ip [default: 192.168.0.50]
      • host_udp_port [default: 55115]
      • sensor_ip [default: 192.168.0.10]
      • frame_id [default: scanner]
      • skip [default: 0]
      • angle_start [default: 0]
      • angle_end [default: 275]
      • publish_topic [default: scan]
      • node_name [default: laser_scanner]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged psen_scan at answers.ros.org

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