opensw_ros

Open driver communicating with SlamTec rpos framework devices such as the M2M1 mapper.

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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