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Package Summary

ROS driver for IBEO LUX

Package Summary

ROS driver for IBEO LUX

Package Summary

ROS driver for IBEO LUX

Package Summary

ROS driver for IBEO LUX

Description

A ROS driver to interact with the Ibeo LUX sensor and the Ibeo LUX Fusion ECU. This driver does not work with the Ibeo LUX 8L or the ibeo_scala. Please see the list of supported hardware below for more information. This driver was developed using the Ethernet interface documentation version 1.38. An updated driver using Ethernet interface documentation 1.47 is coming soon.

Supported Hardware

Subscribed Topics:

Published Topics (Single LUX and LUX Fusion ECU)

Message Type

Topic

Description

network_interface/TCPFrame

tcp_tx

A copy of all raw TCP (Ethernet) data sent from the sensor/ECU.

sensor_msgs/PointCloud2

as_tx/point_cloud

The scan data represented as a PCL::PointCloud<pcl::PointXYZL>.

visualization_msgs/MarkerArray

as_tx/objects

Visualization of the detected objects as an array of wireframe boxes (intended for use in RViz).

visualization_msgs/Marker

as_tx/object_contour_points

Visualization of the contour points which define detected objects (intended for use in RViz).

Published Topics (Single LUX Only)

Message Type

Topic

Description

ibeo_msgs/ScanData2202

parsed_tx/scan_data_2202

All data produced by a single LUX sensor about each scan including all points and their layers.

ibeo_msgs/ObjectData2221

parsed_tx/object_data_2221

All object data produced by a single LUX sensor and information about the detected objects

ibeo_msgs/HostVehicleState2805

parsed_tx/host_vehicle_state_2805

Information about the estimated and provided vehicle state (x and y position, wheel angles, velocity, yaw rate, etc.).

ibeo_msgs/ErrorWarninig

parsed_tx/error_warning

Error and warning data from the sensor.

Published Topics (LUX Fusion ECU Only)

Message Type

Topic

Description

ibeo_msgs/ScanData2204

parsed_tx/scan_data_2204

All data produced by the Fusion ECU about each scan including all points and their layers (Fusion System v2.1 and older).

ibeo_msgs/ScanData2205

parsed_tx/scan_data_2205

All data produced by the Fusion ECU about each scan including all points and their layers (Fusion System v2.2 and newer).

ibeo_msgs/ObjectData2225

parsed_tx/object_data_2225

All object data produced by the Fusion ECU and information about those objects (Fusion System v2.1 and older).

ibeo_msgs/ObjectData2280

parsed_tx/fusion_object_data_2280

All object data produced by the Fusion ECU and information about those objects (Fusion System v2.2 and newer).

ibeo_msgs/CameraImage

parsed_tx/camera_image

Image data provided by the Fusion ECU if a camera is attached and configured.

ibeo_msgs/HostVehicleState2806

parsed_tx/host_vehicle_state_2806

Information about the estimated and provided vehicle state (x and y position, wheel angles, velocity, yaw rate, etc.) (Fusion System v2.1 and older).

ibeo_msgs/HostVehicleState2807

parsed_tx/host_vehicle_state_2807

Information about the estimated and provided vehicle state (x and y position, wheel angles, velocity, yaw rate, etc.) (Fusion System v2.2 and newer).

Parameters

~ip_address
The IP address of the sensor or ECU.

~port
The TCP port on which to listen for the data from the sensor or ECU.

~is_fusion
Whether the IP address above points to a fusion ECU (true) or a single sensor (false).

~sensor_frame_id
The frame_id to be used for all published data from the sensor.


2019-11-16 12:52