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Overview

This package provides a driver for the OMRON OS32C EtherNet/IP based safety laser. You can learn more about this device on the manufacturer's website:

https://www.ia.omron.com/products/family/2717/

The primary resource used in developing this driver was the OS32C with EtherNet/IP & Measurement Data Addendum.

Nodes

omron_os32c_driver

Standalone driver node that publishes the laserscan with diagnostics information.

Published Topics

scan (sensor_msgs/LaserScan)

• Scans output from the device at specified frequency.

Parameters

~host (string, default: 192.168.1.1)

• IP address to find device at.

~local_ip (string, default: 0.0.0.0)

• IP adress where the device sends its data to. Enables using multiple scanners at the same time when specifying different ~local_ip parameters.

~frame_id (string, default: laser)

• The header frame_id of the published laser scan message

~start_angle (double, default: OS32C::ANGLE_MAX)

• Start angle

~end_angle (double, default: OS32C::ANGLE_MIN)

• End angle

~frequency (double, default: 12.856)

• Poll frequency

~expected_frequency (double, default: frequency)

• Expected frequency

~frequency_tolerance (double, default: 0.1)

• Tolerance on frequency for diagnosed publisher

~timestamp_min_acceptable (double, default: -1)

• Min acceptable timestamp for diagnosed publisher

~timestamp_max_acceptable (double, default: -1)

• Max acceptable timestamp for diagnosed publisher

~reconnect_timeout (double, default: 2.0)

• How long before we try a reconnecting to the device

~publish_intensities (bool, default: false)

• Whether the intensities are filled in the output scan msg