ccsherlock / osight_lidar

ROS driver for Osight 2D lidar, supported by Tianbot

osight_lidar

ROS driver for Osight 2D lidar, supported by Tianbot

Osight Lidar IExxx Purchase link(淘宝购买链接)：https://item.taobao.com/item.htm?id=612044849834

Specification

Items	Details
Model	IE103-S
Environment	Outdoors
Working temperature	-20℃～+60℃
IP	IP67
Interface	Ethernet
Laser safety	class 1
Distance	0.3～30m
Scan frecuency	10Hz、20Hz、30Hz、50Hz
Angular resolution	0.125°、0.25°、0.5°
Angle range	270°
Intensities	Yes
Accuracy	≤±30mm
Protocol	UDP
Input voltage	10～28V DC
Weight	320 g
Size	60mm×60mm×93mm
Power Consumption	≤ 4W
Standard	IEC 60068-2-27:2008 IEC 60068-2-6:2007 EMC EN 61000-6-2:2005 EN 61000-6-4:2007+A1

Installation Instructions

You can skip these steps if you purchase Osight Lidar with a ROS2GO system

• Install from debian package
  To be released
• Install from source

Steps to install to catkin_ws.

cd ~/catkin_ws/src/
git clone https://github.com/tianbot/osight_lidar.git
cd ~/catkin_ws && catkin_make

Usage Instructions

Make sure the power supply and ehternet connection are correct.

Start osight_lidar node

Launch the lidar

roslaunch osight_lidar osight_iexxx.launch

Topics

Published

• ~/scan (sensor_msgs/LaserScan)

Services

• ~/ip_cfg
  Configure the IP address of lidar.

• ~/speed_cfg
  N/A currently.

• ~/echo_cfg
  Enable or disable the multi echo function.

• ~/outlier_cfg
  Remove the outlier.

• ~/resolution_cfg
  N/A currently.

• ~/intensity_cfg
  Enable or disable intensity. Congifure the intensities data type.

Params

• ~/lidar_ip
  Specify the IP address of lidar.

• ~/frame_id
  Frame id of the laser scan msgs.

• ~/angle_min
  Minimum angle.

• ~/angle_max
  Maximum angle.

License

The package is under BSD 3-Clause License