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