psen_scan repository

Repository Summary

Checkout URI
VCS Type git
VCS Version melodic-devel
Last Updated 2020-10-23
Dev Status END-OF-LIFE
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)


Name Version
psen_scan 1.0.8



You are using an outdated version of psen_scan. Please update your scanner firmware and use the new psen_scan_v2 package. See for detailed instruction.


PILZ safety laser scanner 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 laser scanner data into your ROS Environment. Using the standard sensor_msgs/LaserScan message format ensures compatibility with other laserscan-post-processing nodes such as gmapping. For a general overview and link collection we refer to the wiki page.

PILZ safety laser scanner

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. Installation
  2. Build Status
  3. Setup
  4. ROS API
  5. Usage


To use the package, you can install prebuilt packages with

sudo apt install ros-melodic-psen-scan

Build Status

Platform Status
Travis Build Status
Buildfarm src Build Status
Buildfarm bin Build Status

Branching model

melodic-devel is considered to be the active development branch.


Needed Equipment: - PSENscan safety laser scanner - ROS Machine


Published Topics

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


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

host_ip (string, default: "")
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: "")
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.

x_axis_rotation (float, default: 137.5)
Clockwise rotation of the x-axis around the center in degrees.


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 sensor_ip:= host_ip:= host_udp_port:=3050

This example configures the safety laser scanner at to send it´s frames to

Adjust expert parameters

If you've created an application package with your own launch file as described in the tutorials, you can easily adjust the aforementioned configuration parameters.

Test concept


You need further information?

Our international hotline staff will support you individually about our ROS packages at

Find more information about the PILZ safety laser scanner on the product website.

Visit us at

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.


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