<> <> {{attachment:leuze-rod4plus.jpg}} == Usage == This package adapts the Leuze rotoScan series of laser range finders. Therefore it behaves like any other ROS laser range finder driver and publishes a <> on the "'''scan'''" topic whenever a new scan comes in. Configuration of the laser range finder is not supported and requires a vendor-provided tool. ''Formerly named rod4_node.'' == Supported Hardware == The driver currently supports following connection types and has been confirmed to work with following models: * Ethernet: * [[http://www.leuze.de/products/los/mess/rod4/rod4_de.html|ROD-4]] * Serial port: * [[http://www.leuze.de/products/las/slsc/rs4/p_01_de.html|RS4]] (RS232) ... but might be extended to support more interfaces or models. == Node configuration == ~frame_id(string, default: "laser"):: Transform frame id to be used in the message header. ~range_max(float, default: 40.):: ''range_max'' to be used in message body. Differs among models. === Ethernet specific === The underlying network protocol implementation has been stable for more than a year now. All testing has been done with a "ROD4 plus" unit. ~host(string, default: "192.168.1.1") :: Hostname/IP address of the laser range finder. ~port(string, default: "9008") :: Port of of the laser range finder. === Serial port specific === ~device(string, default: "/dev/ttyUSB0") :: Serial port device where the rotoScan is connected to. ~baudrate(int, default: 57600) :: Serial baudrate configured in rotoScan. == Source repository == https://svn-agbkb.informatik.uni-bremen.de/dfki-sks-ros-pkg/trunk/dfki_sks_laser_drivers/rotoscan_node ## AUTOGENERATED DON'T DELETE ## CategoryPackage