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