Show EOL distros:
cob_driver: cob_arm | cob_base | cob_base_drive_chain | cob_battery | cob_camera_sensors | cob_canopen_motor | cob_forcetorque | cob_generic_can | cob_head_axis | cob_hokuyo | cob_joint_state_aggregator | cob_joy | cob_light | cob_manipulator | cob_oodl_scanner | cob_powercube_chain | cob_pseudo_joint_state_publisher | cob_relayboard | cob_sdh | cob_sick_s300 | cob_sound | cob_torso | cob_touch | cob_trajectory_controller | cob_tray | cob_tray_sensors | cob_undercarriage_ctrl
Package Summary
No API documentation
This package published a laser scan message out of a Sick S300 laser scanner.
- Author: Florian Weisshardt
- License: LGPL
- Repository: care-o-bot
- Source: git https://github.com/ipa320/cob_driver.git
cob_driver: cob_base_drive_chain | cob_base_velocity_smoother | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Documented
This package published a laser scan message out of a Sick S300 laser scanner.
- Author: Florian Weisshardt
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: release_electric)
cob_driver: cob_base_drive_chain | cob_base_velocity_smoother | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Documented
This package published a laser scan message out of a Sick S300 laser scanner.
- Author: Florian Weisshardt
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: release_fuerte)
cob_driver: cob_base_drive_chain | cob_base_velocity_smoother | cob_cam3d_throttle | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Documented
This package published a laser scan message out of a Sick S300 laser scanner.
- Author: Florian Weisshardt
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: groovy)
cob_driver: cob_base_drive_chain | cob_camera_sensors | cob_canopen_motor | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_lms1xx | cob_sick_s300 | cob_sound | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Released
Documented
This package published a laser scan message out of a Sick S300 laser scanner.
- Maintainer status: developed
- Maintainer: Joshua Hampp <joshua.hampp AT ipa.fhg DOT de>
- Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: hydro_release_candidate)
cob_driver: cob_base_drive_chain | cob_bms_driver | cob_camera_sensors | cob_canopen_motor | cob_elmo_homing | cob_generic_can | cob_light | cob_mimic | cob_phidgets | cob_relayboard | cob_scan_unifier | cob_sick_lms1xx | cob_sick_s300 | cob_sound | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Released
Documented
This package published a laser scan message out of a Sick S300 laser scanner.
- Maintainer status: maintained
- Maintainer: Felix Messmer <felixmessmer AT gmail DOT com>
- Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_driver.git (branch: indigo_release_candidate)
cob_driver: cob_base_drive_chain | cob_bms_driver | cob_canopen_motor | cob_elmo_homing | cob_generic_can | cob_light | cob_mimic | cob_phidgets | cob_relayboard | cob_scan_unifier | cob_sick_lms1xx | cob_sick_s300 | cob_sound | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Released
Documented
This package published a laser scan message out of a Sick S300 laser scanner.
- Maintainer status: developed
- Maintainer: Felix Messmer <felixmessmer AT gmail DOT com>
- Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_driver.git (branch: kinetic_release_candidate)
cob_driver: cob_base_drive_chain | cob_bms_driver | cob_canopen_motor | cob_elmo_homing | cob_generic_can | cob_light | cob_mimic | cob_phidgets | cob_relayboard | cob_scan_unifier | cob_sick_lms1xx | cob_sick_s300 | cob_sound | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Released
Documented
This package published a laser scan message out of a Sick S300 laser scanner.
- Maintainer status: maintained
- Maintainer: Felix Messmer <felixmessmer AT gmail DOT com>
- Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_driver.git (branch: kinetic_release_candidate)
cob_driver: cob_base_drive_chain | cob_bms_driver | cob_canopen_motor | cob_elmo_homing | cob_generic_can | cob_light | cob_mimic | cob_phidgets | cob_relayboard | cob_scan_unifier | cob_sick_lms1xx | cob_sick_s300 | cob_sound | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Released
Documented
This package published a laser scan message out of a Sick S300 laser scanner.
- Maintainer status: maintained
- Maintainer: Felix Messmer <felixmessmer AT gmail DOT com>
- Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_driver.git (branch: kinetic_release_candidate)
Contents
ROS API
The cob_sick_s300 package provides two configurable nodes for operating with the scanners.
cob_sick_s300
The cob_sick_s300 node takes in sensor_msgs/LaserScan messages and send this directly to the hardware.Published Topics
scan (sensor_msgs/LaserScan)- Publishes the single scan from a planar laser range-finder.
- Whether this scanner is in standby mode.
- Publishes ROS diagnostics for this driver.
Parameters
port (string, default: "/dev/ttyUSB0")- Device address of can module, e.g. /dev/ttyScan1...
- Baudrate: for most setups 500000
- How long one actual scan takes (without the internal calibration procedure)
- How long the one turn of the scan takes (usually 0.040 seconds)
- Wether the scanner is mounted upside down or not. NOTE: this flag turns the output of the scanner, so you don't need to turn the frame upside down.
- Scan_id for Guest/Host-Setups. ID for Guest is 8, for Host 7, for regular setups always 7.
- name of the link of the scanner in the robot_description
- Frequency [Hz] of the published scan
cob_scan_filter
The cob_scan_filter node takes sensor_msgs/LaserScan messages and sends a filtered copy of it to the hardware.Subscribed Topics
scan_in (sensor_msgs/LaserScan)- Receives the scan message.
Published Topics
scan_out (sensor_msgs/LaserScan)- Publishes the filtered scan message.
Parameters
scan_intervals (list of scan intervals, default: Required)- these intervals are included to the scan
Usage/Examples
This package is not intended to be used directly, but with the corresponding launch and yaml files from e.g. cob_bringup in the cob_robots stack. For starting use:
roslaunch cob_bringup laser_front.launch roslaunch cob_bringup laser_rear.launch
For including in your overall launch file use
<include file="$(find cob_bringup)/components/laser_front.launch" /> <include file="$(find cob_bringup)/components/laser_rear.launch" />
All hardware configuration is done in the cob_hardware_config package. A sample parameter file in "cob_hardware_config/cob3-3/config/laser_front.yaml" could look like this
port: /dev/ttyScan1 baud: 500000 scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms inverted: true scan_id: 7 frame_id: /base_laser_front_link scan_intervals: [[-1.3526, 1.361357]] #[rad] these intervals are included to the scan
