psen_scan_v2 Documentation

html img/pilz-logo.png "PILZ"

PILZ safety laser scanner PSENscan

Package: psen_scan_v2

The psen_scan_v2 package is a ROS integration driver for the PSENscan safety laser scanner product. It lets you integrate the laser scanner data into your ROS Environment easily. Using the standard sensor_msgs/LaserScan message format ensures compatibility with other laserscan-post-processing nodes such as gmapping. For a general overview, link collection and tutorials we refer to the ROS wiki page.

PILZ safety laser scanner

PSENscan firmware >= 3.1.0 is supported on the following models:

Type Features Order number
Common features:
  • compliant and approved in accordance with: EN/IEC 61496-1: Type 3, EN ISO 13849-1: PL d, IEC 61508: SIL 2
  • opening angle: 275°
  • operating range: 3.0 or 5.5 m safety zone, 40 m warning zone
  • reaction time: 62 ms
  • Protection type: IP65
  • Dimensions (H x W x D) in mm: 152 x 102 x 112.5
Light versions Additional features: Muting, EDM, Override
PSEN sc L 3.0 08-12 3.0 m safety zone, 8 or 12-pin exchangeable memory module 6D000012
PSEN sc L 5.5 08-12 5.5 m safety zone, 8 or 12-pin exchangeable memory module 6D000013
Master versions Additional features: Muting, EDM, Override, restart in accordance with EN ISO 61496-3, vertical applications
PSEN sc M 3.0 08-12 3.0 m safety zone, 8 or 12-pin exchangeable memory module 6D000016
PSEN sc M 5.5 08-12 5.5 m safety zone, 8 or 12-pin exchangeable memory module 6D000017

C++ standalone library

If you are interested in using the PSENscan safety laser scanner without ROS, please take a look at our C++ standalone library. You can read more about it "in the `standalone` folder"

Table of Contents

  1. Installation
  2. Usage
  3. Developer Information
  4. Migration


Needed Equipment:

To use the package, you can install prebuilt packages with

sudo apt install ros-$ROS_DISTRO-psen-scan-v2


To start reading data from the safety laser scanner and publishing scans execute roslaunch psen_scan_v2 psen_scan_v2.launch in a command line. This will launch the ROS Node with the default configuration.

If you wish to set parameters from the command line, add them to the end of the command as parameter:=value, separated by spaces.

roslaunch psen_scan_v2 psen_scan_v2.launch sensor_ip:=

This example configures the safety laser scanner at to send it´s frames to

The tutorials describe how to create an application package with your own launch file, where you can easily adjust the configuration parameters.


sensor_ip (string, default: "")
IP-Address of safety laser scanner.

Optional Parameters

prefix (string, default: "laser_1")
Name of this scanner that can be changed to differentiate between multiple devices.

angle_start (double, default: -2.40 (= -137.5 deg))
Start angle of measurement. (Radian)

angle_end (double, default: 2.40 (= 137.5 deg))
End angle of measurement. (Radian)

Expert Parameters (optional)

host_ip (string, default: "auto")
IP-Address of host machine. The IP of the local machine is used by default.

host_udp_port_data (int, default: 55115)
UDP Port on which monitoring frames (scans) should be received.

host_udp_port_control (int, default: 55116)
UDP Port used to send commands (start/stop) and receive the corresponding replies.

fragmented_scans (bool, default: false)
Publish scan data as soon as a UDP packet is ready, do not wait for a full scan.

Published Topics

/laser_scanner/scan (sensor_msgs/LaserScan)

Hint 1: Scan rounds and fragments that contain no measurement data are not published. This can happen with smaller scan ranges.

Hint 2: Frequency of the laser scan messages is about 33hz for the combined and 200hz for the fragmented scans.

TF Frames

The location of the TF frames is shown in the image below. These names are defined by the aforementioned launchfile parameter prefix. Changing them is necessary for instance when running multiple scanners.

PILZ safety laser scanner frames

Defining the scan range

You can adjust the scan field to your needs by changing angle_start and angle_end. The published (sensor_msgs/LaserScan) will only contain data within the given angle limits. Both limits are defined within the laser_1_scan frame as shown in the image below.

Limit visualization

Developer Information

Build Status

Platform Melodic Noetic
Buildfarm src
Buildfarm bin

Branching model

main is considered to be the active development branch, it targets the ROS distributions melodic and noetic.

Test concept



To update your ROS environment from the former psen_scan package (which supported firmware versions up to 3.0), please execute the following steps:

  1. Update scanner firmware using PSENscan Configurator (unless the device has firmware 3.1 already)
  2. Install the new ROS package sudo apt install ros-$ROS_DISTRO-psen-scan-v2
  3. Replace the launch file arguments:
    • password and x_axis_rotation are obsolete and should be dropped
    • angle_start and angle_end are now in radians, in direction of the x axis of the scanner tf frame
  4. In your application launch file / roslaunch command: replace all occurrences of psen_scan with psen_scan_v2

You need further information?

Our international hotline staff will support you individually about our ROS packages at

Find more information about the PILZ safety laser scanner on the product website.

Visit us at

PILZ is an international-scale, innovative automation technology company. PILZ uses its solutions to create safety for man, machine and the environment. In addition to head office in Ostfildern near Stuttgart, the family business is represented over 2,400 employees at 42 subsidiaries and branches on all continents.

The company’s products include sensor technology, electronic monitoring relays, safety relays, configurable and programmable control systems, automation solutions with motion control, systems for industrial communication as well as visualization solutions and operator terminals.

PILZ solutions can be used in all areas of mechanical engineering, including the packaging and automotive sector, plus the railway technology, press and wind energy sectors. These solutions ensure that baggage handling systems run safely at airports and funiculars or roller coasters travel safely; they also guarantee fire protection and energy supply in buildings.

autogenerated on Wed May 5 2021 02:12:59