The Pepperl+Fuchs R2000 Driver

This is the Doxygen documentation of a driver for the Pepperl+Fuchs OMD10M-R2000-B23 laser range finder.

The driver is based upon the widespread boost asio library (<http://www.boost.org>)

The driver comes as a library, which contains the actual driver, and has additionally a ROS-Node interface to the Robot Operating System (<http://www.ros.org>), which can optionally be used.

Usage with ROS =========================== The ROS package consists of the driver library and a node named `r2000_node`, which is linked to the library. This is the actual driver node.

Published Topics ---------------------------

• `scan` (sensor_msgs/Laserscan) A standard ROS Laserscan message containing the measured data. The message rate per second depends on the `scan_frequency` parameter.

Parameters ---------------------------

• `frame_id` The frame-ID in the Header of the published `sensor_msgs/Laserscan2` messages
• `scanner_ip` IP or hostname of the laserscanner
• `scan_frequency` The scan frequency (rotation speed of scanner head) in Hz in the range [10;50]
• `samples_per_scan` The number of distances measured per scan/rotation in the range [72;25200]. Only certain values are allowed (see Manual). Examples are 72, 360, 720, 1440, 1800, 3600, 7200, 10080, 25200.

Quick Start --------------------------- Set the IP-Address of the scanner in `launch/gui_example.launch` and run the following command:

roslaunch pepperl_fuchs_r2000 gui_example.launch

This starts `RViz` (http://wiki.ros.org/rviz) and the driver and you should see the measuring output of the scanner.

Basic usage without ROS ===========================

The basic usage of the driver library code (C++11 style) is as follows:

#include <pepperl_fuchs_r2000/r2000_driver.h>

int main(int argc, char **argv) { bool success;

pepperl_fuchs::R2000Driver driver; success = driver.connect("192.168.0.100"); // Replace IP success = driver.setScanFrequency(35); // Set scanner frequency in the range [10;50] success = driver.setSamplesPerScan(3600); // Set samples per scan in the range [72,25200] (valid values are listed in manual)

auto params = driver.getParameters(); // Get all parameter values as std::map<string, string> for( auto key_value : params ) { Do something with the parameter values }

success = driver.startCapturingUDP(); // Notice: startCapturingTCP() also exists

while(true) { pepperl_fuchs::ScanData scandata = driver.getFullScan(); // Do something with: scandata.headers; // headers, scandata.distance_data; // distances and scandata.amplitude_data; // amplitudes }

driver.stopCapturing(); driver.disconnect(); }