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melodic noetic

Supported hardware

model name : LSC Series

• web site : Autonics.com

• Features :

• Environment of use : indoor
• Scanning frequency : 15Hz
• Angular resolution : 0.33º
• Aparture angle : 270º
• Detection distance range
  • LSC-C5CT3 : 0.05m ~ 5m
  • LSC-C10CT3 : 0.05m ~ 10m
  • LSC-C25CT3 : 0.05m ~ 25m

ROS API

lsc_ros_driver

lsc_ros_driver is ROS1 driver package for LSC Series of Autonics. It converts scan data from device to LaserScan topic message and publishes.

Published Topics

scan (sensor_msgs/LaserScan)

• Scan data from the device.

diagnostics (diagnostic_msgs/DiagnosticStatus)

• Scan topic status.

Services

self_test (diagnostic_msgs/SelfTest)

• check communication connection

Parameters

addr (string, default: 192.168.0.1)

• The device ip address

port (string, default: 8000)

• The port number of device

frame_id (string, default: laser)

• The frame name of scan data

range_min (double, default: 0.05)

• Minimum range value [m]

range_max (double, default: 25.0)

• Maximum range value [m]

password (string, default: 0000)

• Password to login LSC

Installation

from source

  source /opt/ros/$ROS_DISTRO/setup.bash
  mkdir -p ~/catkin_ws/src/
  cd ~/catkin_ws/src/
  git clone https://github.com/AutonicsLiDAR/lsc_ros_driver.git
  cd ~/catkin_ws
  catkin_make
  source ~/catkin_ws/devel/setup.bash

from binary

  sudo apt install ros-$ROS_DISTRO-lsc-ros-driver

Start

   roslaunch lsc_ros_driver lsc_c25_launch.launch