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  Show EOL distros: 

cob_driver: cob_base_drive_chain | cob_camera_sensors | cob_canopen_motor | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_lms1xx | cob_sick_s300 | cob_sound | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control

Package Summary

This package published a laser scan message out of a Sick S300 laser scanner.

  • Maintainer status: developed
  • Maintainer: Joshua Hampp <joshua.hampp AT ipa.fhg DOT de>
  • Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
  • License: LGPL
  • Source: git https://github.com/ipa320/cob_driver.git (branch: hydro_release_candidate)
cob_driver: cob_base_drive_chain | cob_bms_driver | cob_camera_sensors | cob_canopen_motor | cob_elmo_homing | cob_generic_can | cob_light | cob_mimic | cob_phidgets | cob_relayboard | cob_scan_unifier | cob_sick_lms1xx | cob_sick_s300 | cob_sound | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control

Package Summary

This package published a laser scan message out of a Sick S300 laser scanner.

  • Maintainer status: developed
  • Maintainer: Felix Messmer <felixmessmer AT gmail DOT com>
  • Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
  • License: Apache 2.0
  • Source: git https://github.com/ipa320/cob_driver.git (branch: kinetic_release_candidate)
cob_driver: cob_base_drive_chain | cob_bms_driver | cob_camera_sensors | cob_canopen_motor | cob_elmo_homing | cob_generic_can | cob_light | cob_mimic | cob_phidgets | cob_relayboard | cob_scan_unifier | cob_sick_lms1xx | cob_sick_s300 | cob_sound | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control

Package Summary

This package published a laser scan message out of a Sick S300 laser scanner.

  • Maintainer status: maintained
  • Maintainer: Felix Messmer <felixmessmer AT gmail DOT com>
  • Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
  • License: Apache 2.0
  • Source: git https://github.com/ipa320/cob_driver.git (branch: kinetic_release_candidate)

ROS API

The cob_sick_s300 package provides two configurable nodes for operating with the scanners.

cob_sick_s300

The cob_sick_s300 node takes in sensor_msgs/LaserScan messages and send this directly to the hardware.

Published Topics

scan (sensor_msgs/LaserScan) scan_standby (std_msgs/Bool) /diagnostics (diagnostic_msgs/DiagnosticArray)

Parameters

port (string, default: "/dev/ttyUSB0") baud (int, default: 500000) scan_duration (int, default: 0.025) scan_cycle_time (int, default: 0.040) inverted (boolean, default: false) scan_id (int, default: 7) frame_id (string, default: "/base_laser_link") publish_frequency (int, default: 12)

cob_scan_filter

The cob_scan_filter node takes sensor_msgs/LaserScan messages and sends a filtered copy of it to the hardware.

Subscribed Topics

scan (sensor_msgs/LaserScan)

Published Topics

scan_filtered (sensor_msgs/LaserScan)

Parameters

scan_intervals (list of scan intervals, default: Required)

Usage/Examples

This package is not intended to be used directly, but with the corresponding launch and yaml files from e.g. cob_bringup in the cob_robots stack. For starting use:

roslaunch cob_bringup laser_front.launch
roslaunch cob_bringup laser_rear.launch

For including in your overall launch file use

<include file="$(find cob_bringup)/components/laser_front.launch" />
<include file="$(find cob_bringup)/components/laser_rear.launch" />

All hardware configuration is done in the cob_hardware_config package. A sample parameter file in "cob_hardware_config/cob3-3/config/laser_front.yaml" could look like this

port: /dev/ttyScan1
baud: 500000
scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
inverted: true
scan_id: 7
frame_id: /base_laser_front_link
scan_intervals: [[-1.3526, 1.361357]] #[rad] these intervals are included to the scan


2019-09-14 12:36