<> <> {{attachment:os32c.jpg||align=right,width=240}} == 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 [[http://downloads.omron.ca/IAB/Products/Safety/Programmable%20safety%20system/Standalone%20safety%20controllers/OS32C/Z336/OS32C-DM_UsersManual_en_201404_Z336-E1-05.pdf|OS32C with EtherNet/IP & Measurement Data Addendum]]. == Nodes == {{{ #!clearsilver CS/NodeAPI node.0 { name = omron_os32c_driver desc = Standalone driver node that publishes the laserscan with diagnostics information. pub { 0.name = scan 0.type = sensor_msgs/LaserScan 0.desc = Scans output from the device at specified frequency. } param { 0.name = ~host 0.type = string 0.desc = IP address to find device at. 0.default = 192.168.1.1 1.name = ~local_ip 1.type = string 1.desc = IP adress where the device sends its data to. Enables using multiple scanners at the same time when specifying different ~local_ip parameters. 1.default = 0.0.0.0 2.name = ~frame_id 2.type = string 2.desc = The header frame_id of the published laser scan message 2.default = laser 3.name = ~start_angle 3.type = double 3.desc = Start angle 3.default = OS32C::ANGLE_MAX 4.name = ~end_angle 4.type = double 4.desc = End angle 4.default = OS32C::ANGLE_MIN 5.name = ~frequency 5.type = double 5.desc = Poll frequency 5.default = 12.856 6.name = ~expected_frequency 6.type = double 6.desc = Expected frequency 6.default = frequency 7.name = ~frequency_tolerance 7.type = double 7.desc = Tolerance on frequency for diagnosed publisher 7.default = 0.1 8.name = ~timestamp_min_acceptable 8.type = double 8.desc = Min acceptable timestamp for diagnosed publisher 8.default = -1 9.name = ~timestamp_max_acceptable 9.type = double 9.desc = Max acceptable timestamp for diagnosed publisher 9.default = -1 10.name = ~reconnect_timeout 10.type = double 10.desc = How long before we try a reconnecting to the device 10.default = 2.0 11.name = ~publish_intensities 11.type = bool 11.desc = Whether the intensities are filled in the output scan msg 11.default = false } } }}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage