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:


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



Standalone driver node that publishes the laserscan with diagnostics information.

Published Topics

scan (sensor_msgs/LaserScan)
  • Scans output from the device at specified frequency.


~host (string, default:
  • IP address to find device at.
~local_ip (string, default:
  • 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

Wiki: omron_os32c_driver (last edited 2019-06-19 12:25:24 by reinzor)