ROS Index
Repository Summary
| Checkout URI | https://github.com/PilzDE/psen_scan.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2020-10-23 |
| Dev Status | END-OF-LIFE |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| psen_scan | 1.0.8 |
README
Warning
You are using an outdated version of psen_scan. Please update your scanner firmware and use the new psen_scan_v2 package. See https://github.com/PilzDE/psen_scan_v2/#migration 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.
| Type | Features | Order number |
|---|---|---|
| Common features:<ul><li>compliant and approved in accordance with: EN/IEC 61496-1: Type 3, EN ISO 13849-1: PL d, IEC 61508: SIL 2</li><li>opening angle: 275°</li><li>operating range: 3.0 or 5.5 m safety zone, 40 m warning zone</li><li>reaction time: 62 ms</li><li>Protection type: IP65</li><li>Dimensions (H x W x D) in mm: 152 x 102 x 112.5</li></ul> | ||
| 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
Installation
To use the package, you can install prebuilt packages with
sudo apt install ros-melodic-psen-scan
Build Status
| Platform | Status |
| ——– | —— |
| Travis | 
|
| Buildfarm src | |
| Buildfarm bin |
|
Branching model
melodic-devel is considered to be the active development branch.
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.
x_axis_rotation (float, default: 137.5)
Clockwise rotation of the x-axis around the center in degrees.
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 sensor_ip:=192.168.0.10 host_ip:=192.168.0.20 host_udp_port:=3050
This example configures the safety laser scanner at 192.168.0.10 to send it´s frames to 192.168.0.20:3050.
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