PILZ safety laser scanner PSENscan

Package: psen_scan_v2

The psen_scan_v2 package is a ROS integration driver for the PSENscan safety laser scanner product. It lets you integrate the laser scanner data into your ROS Environment easily. Using the standard [sensor_msgs/LaserScan][] message format ensures compatibility with other laserscan-post-processing nodes such as [gmapping][]. For a general overview, link collection and tutorials we refer to the ROS wiki page.

PSENscan firmware >= 3.1.0 is supported on the following models:

C++ standalone library

If you are interested in using the PSENscan safety laser scanner without ROS, please take a look at our C++ standalone library. You can read more about it in the standalone folder

Table of Contents

1. Installation
2. Usage
   • Parameters
   • Optional Parameters
   • Expert Parameters (optional)
   • Published Topics
   • TF Frames
   • Defining the scan range
   • Timestamp details
3. Developer Information
   • Build Status
   • Branching model
   • Test concept
4. Migration

Installation

Needed Equipment:

• PSENscan safety laser scanner
• ROS Machine

To use the package, you can install prebuilt packages with

sudo apt install ros-$ROS_DISTRO-psen-scan-v2

Usage

To start reading data from the safety laser scanner and publishing scans execute ros2 launch psen_scan_v2 psen_scan_v2.launch.xml in a command line. This will launch the ROS Node with the default configuration.

If you wish to set parameters from the command line, add them to the end of the command as parameter:=value, separated by spaces.

ros2 launch psen_scan_v2 psen_scan_v2.launch.xml sensor_ip:=192.168.0.10

This example configures the safety laser scanner at 192.168.0.10 to send it´s frames to the ROS node at localhost.

In order to create an application with your own launch file, you can include the bringup.launch.xml, where you can easily adjust the configuration parameters. A more detailed explanation can be found in the tutorials.

Parameters

sensor_ip (string, default: “192.168.0.10”)
IP-Address of safety laser scanner.

Optional Parameters

tf_prefix (string, default: “laser_1”)
Name of this scanner that can be changed to differentiate between multiple devices. By convention this is used as tf prefix.

angle_start (double, default: -2.398 (= -137.4 deg))
Start angle of measurement. (Radian)

angle_end (double, default: 2.398 (= 137.4 deg))
End angle of measurement. It is included in the measurements. (Radian)

intensities (bool, default: false)
Publish intensities. If this is enabled, the resolution needs to be increased (at least 0.2 deg).

resolution (double, default: 0.0017 (= 0.1 deg))
Scan angle resolution. (Radian) The value is rounded to a multiple of 0.1 deg and has to be in the range [0.1, 10] degrees.

Expert Parameters (optional)

host_ip (string, default: “auto”)
IP-Address of host machine. The IP of the local machine is used by default.

host_udp_port_data (int, default: 55115)
UDP Port on which monitoring frames (scans) should be received.

host_udp_port_control (int, default: 55116)
UDP Port used to send commands (start/stop) and receive the corresponding replies.

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Changelog for package psen_scan_v2

0.20.0 (2021-12-01)

• Port to ros2 foxy (#270)

  • Rename launch files to *.launch.xml
  • Update README.md
  • Add migration notes
  • Remove delay in signal handler
  • Introduce _ROS_BUILD define in order to choose between ros2 and (pure) cpp logging
  • Rename ParamMissingOnServer to ParameterNotSet
  • Allow more flexibel usage of util::Barrier
  • Add linter clang-format and xmllint

• Update REAMDE.md

• Minor improvement of TenthOfDegree

• Fix scanner destruction problems. Fixes #241

• Remove dependency on pilz_testutils

• Always build hardware tests

• Internal refactorings

• Contributors: Pilz GmbH and Co. KG

0.3.2 (2021-09-16)

• Improve performance of standalone part

  • Introduce RawDataPtr
  • Write to std::stringstream instead of constructing from std::string
  • Pass by reference wherever possible

• Make release build the default

• Calculate timestamp as the time of the first ray (udp communication time is neglected)

• API: Add timestamp (nanoseconds since epoch) to LaserScan

• API: Add scan counter to LaserScan

• API: remove LaserScan equality operator

• Contributors: Pilz GmbH and Co. KG

0.3.1 (2021-07-21)

• Rename urdf links
• Apply tf prefix equals node name
• API change: rename launch-file argument prefix->tf_prefix
• Contributors: Pilz GmbH and Co. KG

0.3.0 (2021-06-29)

• Set prefix for node name (same value as for tf frames)
• Introduce bringup.launch for starting only the scanner node
• Omit closing the data client before destruction. Fixes #212
• Distance value at angle_end is now included in the scan range
• Default scan range changed to [-137.4..137.4]deg at 0.1 deg resolution
• Add options for modifying resolution and enabling intensities
• Add launchfile option for disabling rviz at startup (default: enable)
• Handle the infinity codes from the scanner correctly
• Inform user about current scan range
• Fix wrong behavior when angle_start and angle_end are equal
• Contributors: Pilz GmbH and Co. KG

0.2.1 (2021-04-19)

• Fix issues with smaller angle ranges than default range (#183)
• Add action for pull request todos (#184)
• Contributors: Pilz GmbH and Co. KG

0.2.0 (2021-04-05)

• Combine multiple monitoring frames into one scan (#173)
• Contributors: Pilz GmbH and Co. KG
• API change: Driver waits for scan round to complete before sending measurement data by default
• Introducing new parameter fragmented_scans to switch back to faster fragmented laser_scan messages
• Contributors: Pilz GmbH and Co. KG

0.1.6 (2021-03-22)

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