Package Summary

ROS Drivers for the Xaxxon OpenLIDAR Sensor

Package Summary

ROS Drivers for the Xaxxon OpenLIDAR Sensor

Overview

Xaxxon OpenLIDAR is an open hardware rotational laser scanner, using the Garmin LIDAR-LiteV3 sensor. Full specs and complete documentation can be found at xaxxon.com/xaxxon/openlidar

http://www.xaxxon.com/images/xaxxon/openlidar/xaxxon_openlidar_sensor.jpg http://www.xaxxon.com/images/xaxxon/openlidar/xaxxon_openlidar_rear_iso.jpg http://www.xaxxon.com/images/xaxxon/openlidar/rvizopenlidar.jpg

Node

lidarbroadcast.py

  • Python driver for OpenLIDAR. Searches USB ports for connected sensor, automatically starts the motor and range broadcast, converting the data stream into a sensor_msgs/LaserScan message. Each message contains data from a single full revolution.

Published Topic

Subscribed Topic

Parameters

  • minimum_range (double, default 0.5)

    • minimum output for laser sensor, meters
  • maximum_range (double, default 40.0)

    • maximum output for laser sensor, meters
  • rpm (integer, default 180)

    • revolution speed for lidar motor, revs per minute
  • masks (string)

    • frame masks CW/RHR+ start-mask/stop-mask pairs, degrees 0-360, space separated
  • dropscan_turnrate (integer, default 0)

    • blank scans when exceeding mobile base odom yaw rate, deg per sec, 0 to disable
    • Ignored if /odom topic unavailable

  • park_offset (double, default 180.0)

    • sensor park (stop-position) offset from photo sensor, degrees
  • forward_offset (double, default 189.0)

    • scan header offset from photo sensor, degrees
  • read_frequency (double, default 715.0)

    • sensor read frequency, Hz

More Info

Full specs and complete documentation can be found at xaxxon.com/xaxxon/openlidar

Wiki: xaxxon_openlidar (last edited 2019-06-10 18:12:43 by Colin Adamson)