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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