This is a ROS node for SF30 rangefinders*

(*It also works for SF02. In this case, set parameter SF02 to true. It is probably compatible with other models: SF10, SF11 - not tested!)

The node assume the following setup for the laser (I used the Lightware terminal from the manufacturer):

#!term

   1: Active data port           USB distance in m
   2: Resolution                 0.03 m
   3: Serial port update rate    1000 / sec  (actual = 1665 / sec)
   4: Serial port baud rate      115200
   5: Analog port update rate    1 / sec  (actual = 1 / sec)
   6: Analog maximum range       256 m
   7: Alarm activation distance  17.50 m
   8: Alarm latch                Off
   9: USB port update rate       50 / sec  (actual = 50 / sec)

Before you leave the terminal, make sure the sensor is sending messages of the form (hit space to make it happen):

#!term
0.57 m
0.57 m
0.59 m
0.57 m
0.59 m
0.59 m
0.55 m
0.59 m
0.57 m
0.57 m
0.57 m

To install the package:

Create a catkin workspace. For instructions on how to create the workspace go here. Download and compile the package:

#!bash

cd catkin_ws/src
git clone git@bitbucket.org:castacks/sf30_node.git
cd ..
catkin_make

To run the node:

In a terminal run:

#!bash
source devel/setup.bash
roslaunch sf30_node sf30.launch

Parameters:

There are a number of parameters in sf30.launch that control the behavior of this driver. Please read these carefully and modify as needed.

portname: name of the serial port the SF30 is connected on. Defaults to /dev/ttyUSB0. topic_name: name of topic to publish to, default is range. frame_id: name of the frame used when publishing message. publish_as_pose: if true, the range will be published as a geometry_msgs::PoseWithCovarianceStamped. If false, the message will be of type sensor_msgs::LaserScan. When published as a LaserScan, the intensities field on this message means data confidence. It is 1 if we can trust the given range. Defaults to true. debug: print debug information when true update_rate: update rate of node. Defaults to 50Hz. altitude_variance: variance to use when publishing range as a pose. Default is .09. sf02: works with legacy versions of the sensor (the sensor output has a space before the reading).

Who do I talk to?

• Guilherme Pereira - gpereira@mail.wvu.edu

Final Remarks

• The laser sensor uses an internal FTDI serial-to-USB converter. Therefore, your Linux system must provide support for this device. Most of distributions come with this support but some embedded distributions need to be set. Here is a good tutorial on how to set the FTDI support on Jetson TK1 systems. It was tested on the DJI’s Manifold.

• Some embedded Linux distributions suspend their inactive USB ports to save power. This may cause the sensor to stop working after the first use. Here is how to disable the auto-suspend function to prevent problems.

• FTDI devices create a file in the folder /dev/serial/by-id/ that can be used as a unique identifier for the device. To use this identifier, replace the parameter portname in the file sf30.launch from /dev/ttyUSB0 to /dev/serial/by-id/ID_OF_YOUR_DEVICE. This is very useful when several devices are connected to the same computer.

License

This software is BSD licensed.

Copyright (c) 2015, Carnegie Mellon University All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.