wsaihopfsg / ros_driver

ROS driver for Pepperl+Fuchs R2000 and R2300 laser scanners

ROS drivers for R2000 and R2300 laser scanners

Required platform:
Ubuntu 18.04 and ROS Melodic

Clone the repository:
Clone the repository in the src folder of your ROS workspace

git clone --branch=master https://github.com/PepperlFuchs/ROS_driver.git

Install the missing dependencies:

cd <path/to/workspace>
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=melodic -y

Build the workspace:

cd <path/to/workspace>
source /opt/ros/melodic/setup.bash
catkin build
source <path/to/workspace>/devel/setup.bash

Usage:
Now you are ready to use the driver. Make the necessary power and ethernet connections. Make sure your computer's IP address is on the same subnet mask as that of the device. Change the scanner_ip argument in the respective launch file as necessary. You can now launch one of the drivers in the following manner:

roslaunch pf_driver r2000.launch

OR

roslaunch pf_driver r2300.launch

With R2300, the term scan refers to a contiguous group of measurements spanning one particular horizontal circular sector. Depending on the orientation of the mirrors on the cube, the scans may be taken in the same or slightly different layers.

In current sensors, all four mirrors are inclined slightly differently so that scans are taken at the following vertical angle (relative to the mounting plane). Note that the layers are numbered in the order they are scanned during one turn. This is (yet) not strictly from bottom to top:

Layer index	Angle	Description
0	-4.5°	bottom (connector side)
1	-1.5°	-
2	+4.5°	top
3	+1.5°	-

To visualize the 4 rings in RViz, run the following launch file:

roslaunch pf_driver r2300_allscans.launch