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PILZ Safety Laserscanner PSENscan
The psen_scan package is a ROS integration of the PSENscan Safety laser scanner product. It allows for an easy integration of the Laserscanner-data into your ROS-Environment. Using the standard sensor_msgs/LaserScan message format ensures compatibility with other laserscan-post-processing nodes such as gmapping.
|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
To use the package, you can install it with
sudo apt install ros-melodic-psen-scan
Needed Equipment: - PSENscan Safety laser scanner - ROS Machine
Publishes a complete scan from the PSENscan Safety laser scanner.
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.
publish_topic (string, default: "scan")
Topic to publish LaserScan data on.
node_name (string, default: "laser_scanner")
Name of Node in ROS Environment. Useful when using multiple Scanners.
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 host_ip:=192.168.0.20 host_udp_port:=3050
This example configures the Safety laser scanner to send it´s frames to 192.168.0.20:3050.
You need further information?
Our international hotline staff will support you individually about our ROS packages at firstname.lastname@example.org
Find more information about the Pilz manipulator module on the product website.
Visit us at pilz.com
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.