README

opensw_ros

Open ROS driver for communicating with SlamTec Slamware devices such as the M2M1 Mapper over ethernet. Other SlamTec devices based on SlamWare may also be supported. For standalone lidar devices, such as the RPLidar S1, the rplidar_ros package should be used, which is based on a different interface and protocol.

Nodes

IMU Driver

The imu_driver node publishes the IMU data from a SlamWare device.

Subscribed topics

Published topics

Topic	Type	Description
imu	`sensor_msgs/Imu`	IMU sensor data

Parameters

Name	Type	Description	Default
host	`string`	Host to connect to	“192.168.11.11”
frame_id	`string`	Frame to use for the published messages	“imu”
port	`int`	TCP port to connect to	`1445`
rate	`double`	Publish rate	`50.0`
use_raw_data	`bool`	Use raw data fields	`true`

Laser Driver

The laser_driver node publishes the laser scan data from a SlamWare device.

Subscribed topics

Published topics

Topic	Type	Description
scan	`sensor_msgs/Scan`	Laser scan sensor data

Parameters

Name	Type	Description	Default
host	`string`	Host to connect to	“192.168.11.11”
frame_id	`string`	Frame to use for the published messages	“laser”
max_range	`double`	Max sensor range in meters	`40.0`
min_range	`double`	Min sensor range in meters	`0.0`
port	`int`	TCP port to connect to	`1445`
rate	`double`	Publish rate	`20.0`