Autonics LSC ROS Driver

This ROS Driver is for Autonics LSC Series

Table of Contents

• Supported Hardware
• ROS API
• Installation
• Start

1. Supported Hardware

1.1 Model name : LSC Series

Website : Autonics/LiDAR/LSC

2. ROS API

2.1 Published Topics

• scan(sensor_msgs/LaserScan) : Scan data from the device
• diagnostics(diagnostic_updater) : Scan topic status

  2.2. Services

• self_test(self_test::Testrunner) : checking communication connection

  2.3. Parameters

• addr(default : 192.168.0.1, type : string) - Device ip address
• port(default : 8000, type : string) - Port number of device
• frame_id(default : laser, type : string) - Frame name of scan data
• range_min(default : 0.05, type : double) - Minimum range value [m]
• range_max(default : 25.0, type : double) - Maximum range value [m]
• password(default : 0000, type : string) - Password to login LSC
• topic_name(default : scan, type : string) - Topic name
• angle_min(default : -45.0, type : double) - Maximum angle value [deg]
• angle_max(default : 225.0, type : double) - Minimum angle value [deg]
• angle_offset(default : 0.0, type : double) - Angle offset[deg]
• ip_change(default : false, type : bool) - Value to enable ip_change
• prev_addr(default : , type : string) - Ip address of device
• new_addr(default : , type : string) - Ip address to change

3. Installation

3.1 from source

source /opt/ros/$ROS_DISTRO/setup.bash
mkdir -p ~/catkin_ws/src/
cd ~/catkin_ws/src/
git clone https://github.com/AutonicsLiDAR/lsc_ros_driver.git
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash

3.2 from binary

sudo apt install ros-$ROS_DISTRO-lsc-ros-driver

4. Start

roslaunch lsc_ros_driver lsc_c25_launch.launch