lsc_ros2_driver
ROS2 driver package for Autonics LSC Series
Links
README
Autonics LSC ROS2 Driver
This ROS2 Driver is for Autonics LSC Series
Table of Contents
1. Supported Hardware
1.1 Model name : LSC Series
Website : Autonics/LiDAR/LSC
2. ROS API
2.1 Published Topics
scan(sensor_msgs/LaserScan) : Scan data from the device
diagnostics(diagnostic_updater) : Scan topic status
2.2 Parameters
2.2.1 Dynamic
frame_id(default : laser, type : string) - Frame name of scan data
range_min(default : 0.05, type : double) - Minimum range value [m]
range_max(default : 25.0, type : double) - Maximum range value [m]
intensities(default : true, type : string) - Flag to choose whether putting intensities information into topic message
2.2.2 Static
addr(default : 192.168.0.1, type : string) - Device ip address
port(default : 8000, type : string) - Port number of device
pub_topic(default : scan. type : string) - Name of published topic
diagnostics_tolerance(default : 0.1, type : double) - Tolerance of topic frequency
diagnostics_windows_time(default : 1, type : int) - Number of events to consider in the statics
angle_min(default : -45.0, type : double) - Maximum angle value [deg]
angle_max(default : 225.0, type : double) - Minimum angle value [deg]
angle_offset(default : 0.0, type : double) - Angle offset[deg]
ip_change(default : false, type : bool) - Value to enable ip_change
prev_addr(default : , type : string) - Ip address of device
new_addr(default : , type : string) - Ip address to change
3. Installation
3.1 from source
3.1.1 LINUX
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir -p ~/colcon_ws/src
cd ~/colcon_ws
colcon build --symlink-install
source ~/colcon_ws/install/local_setup.bash
cd ~/colcon_ws/src
git clone https://github.com/AutonicsLiDAR/lsc_ros2_driver.git
sudo apt update
sudo apt install ros-$ROS_DISTRO-diagnostic-updater
cd ~/colcon_ws
colcon build --packages-select lsc_ros2_driver --event-handlers console_direct+
source ~/colcon_ws/install/local_setup.bash
3.1.2 WINDOWS
C:\dev\ros2_humble\local_setup.bat
mkdir -p C:\dev\colcon_ws\src
cd C:\dev\colcon_ws
colcon build --symlink-install
C:\dev\colcon_ws\install\local_setup.bat
cd C:\dev\colcon_ws\src
git clone https://github.com/AutonicsLiDAR/lsc_ros2_driver.git
git clone https://github.com/ros/diagnostics.git -b ros2
cd C:\dev\colcon_ws
colcon build --packages-select diagnostic_updater --event-handlers console_direct+
colcon build --packages-select lsc_ros2_driver --event-handlers console_direct+
C:\dev\colcon_ws\install\local_setup.bat
3.2 from binary
sudo apt install ros-$ROS_DISTRO-lsc-ros2-driver
4. Start
ros2 launch lsc_ros2_driver lsc_ros2_driver_launch.py