s3000_laser

Description

Driver for ROS to read the scan data from the device SICK S3000. This driver is based on the original driver developed for Player/Stage by Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard.

This driver controls the SICK S3000 safety laser scanner interpreting its data output. The driver is very basic and assumes the S3000 has already been configured to continuously output its measured data on the RS422 data lines.

Supported Hardware

This package should work with SICK S3000 safety laser scanners.

Nodes S3000 laser driver.

Published Topics:

s3000_laser/scan (sensor_msgs/LaserScan) Scan data from the laser, containing either range data or reflector detections.

Parameters:

~port (string, default: "/dev/ttyUSB0") Serial port.

~frame_id (string, default: "/laser") Relative frame for the publication of the laser measures.

~baud_rate (int, default: 500000) Serial port baudrate (options: 9600, 19200, 38400, 115200, 500000).

~serial_parity (string, default: "none") Serial port parity (options: "even", "odd", "none").

~serial_datasize (int, default: 8) Character size mask for serial link (options: 5,6,7,8).

~range_min (float, default: 0m) Min valid range (m) for S3000 data produced.

~range_max (float, default: 40m) Max valid range (m) for S3000 data.

Changelog for package s3000_laser

0.1.1 (2016-08-04)

• Added package to indigo
• fixed array types
• cleanup
• code cleanup
• sicks3000 class cleanup
• minor cleanup
• Merge pull request #4 from RobotnikAutomation/serial-device-code-cleanup Serial device code cleanup
• close port in destructor
• cleanup serial device class interface
• remove all unused code for clarity cleanup class interface
• Merge pull request #3 from chataign/parse-reflector-data Parse reflector data and new parameters
• set queue size to 1 clean laser scan at each iteration
• allow configuration of the laser scan from ROS params
• parse reflector data
• moved DTOR to header to allow use from other files
• parse reflector data
• make baud rate and topic name configurable. support for 0.5deg resolution
• S30b support added. Minor fixes
• Adding Changelog file
• Adding packages dependencies and removing unused includes
• Modifying package description for Hydro branch
• Adding files for Hydro
• Initial commit
• Contributors: AliquesTomas, Dani Carbonell, Francois Chataigner, RobotnikRoman, Roman Navarro Garcia, francois