Introduction

This is a ROS1 Driver for the BEA LZR® Raw-F (Flatscan) laser scanner.

Quick Start Instruction

1. mkdir -p ~/bea_ws/src/ && cd ~/bea_ws/src/
2. git clone https://github.com/BEASensors/bea_flatscan.git
3. cd ~/bea_ws/ && catkin build
4. source devel/setup.bash
5. roslaunch bea_sensors flatscan.launch

Functionality Description

Parameters

All these parameters are listed in the launch file:

• port the port connecting to the Flatscan sensor, e.g. "/dev/ttyUSB0"
• baudrate the baudrate used for communication
• scan_frame_id the frame_id of the published LaserScan message
• scan_topic the topic of the LaserScan message published to
• heartbeat_topic the topic of the heartbeat message published to
• emergency_topic the topic of the emergency message published to
• min_range the minimal valid range of the LaserScan, in meters
• max_range the maximal valid range of the LaserScan, in meters
• enable_temperature CTN field in MDI frames
• information_in_mdi the required data in MDI frames, e.g. "2" indicates that both distances and intensities are requried
• detection_field_mode the required detection mode, e.g. "HD" means "High Density" mode
• optimization the sensitivity and immunity optimization setting, e.g. "0" means no optimization
• angle_first the starting angle, in degrees
• angle_last the ending angle, in degrees
• enable_counter the MDI, heartbeat, emergency counters settings
• heartbeat_period the heartbeat message publishing rate, setting to "0" disables the heartbeat publishing
• enable_facet facet settings
• averaging_setting: averaging settings, "0" means no averaging

Published Messages

1. sensor_msgs/LaserScan
   Published when the MDI messages are received, the data included in the frame is set by the parameter information_in_mdi
2. bea_sensors/Emergency
   Published only when error occurs or the host requests.
3. bea_sensors/Heartbeat
   Published periodically according to the parameter heartbeat_period

Service

Used for configuring the BEA LZR® Raw-F (Flatscan) laser scanner. General form: rosservice call /flatscan/configure "command: <command> subcommand: <subcommand> value: <value>"

Command	SubCommand	Value	Example
set_baudrate	-	57600 115200 230400 460800 921600	rosservice call /flatscan/configure "command: 'set_baudrate' subcommand: '' value: '921600'"
get_measurements	-	single shot continuous	rosservice call /flatscan/configure "command: 'get_measurements' subcommand: '' value: 'continuous'"
get_identity	-	-	rosservice call /flatscan/configure "command: 'get_identity' subcommand: '' value: ''"
get_emergency	-	-	rosservice call /flatscan/configure "command: 'get_emergency' subcommand: '' value: ''"
get_parameters	-	-	rosservice call /flatscan/configure "command: 'get_parameters' subcommand: '' value: ''"
set_parameters	temperature	0: disable 1: enable	rosservice call /flatscan/configure "command: 'set_parameters' subcommand: 'temperature' value: '1'"
	information	0: distances 1: remissions 2: distances and remissions	rosservice call /flatscan/configure "command: 'set_parameters' subcommand: 'information' value: '0'"
	mode	0: HS 1: HD	rosservice call /flatscan/configure "command: 'set_parameters' subcommand: 'mode' value: '1'"
	optimization	0: no optimization (maximum sensitivity) 1: range = 0 to 2.5m (minimum sensitivity) 2 : range = 0 to 3.0m 3 : range = 0 to 3.5m 4 : range longer than 3.5m (maximum sensitivity)	rosservice call /flatscan/configure "command: 'set_parameters' subcommand: 'optimization' value: '0'"
	angle_first	0 to 10800 (unit: 0.01 degrees)	rosservice call /flatscan/configure "command: 'set_parameters' subcommand: 'angle_first' value: '0'"
	angle_last	0 to 10800 (unit: 0.01 degrees)	rosservice call /flatscan/configure "command: 'set_parameters' subcommand: 'angle_last' value: '10800'"
	counter	0: disable 1: enable	rosservice call /flatscan/configure "command: 'set_parameters' subcommand: 'temperature' value: '1'"
	heartbeat	0 to 255 (unit: seconds, 0 means disable)	rosservice call /flatscan/configure "command: 'set_parameters' subcommand: 'heartbeat' value: '5'"
	facet	0: disable 1: enable	rosservice call /flatscan/configure "command: 'set_parameters' subcommand: 'facet' value: '1'"
	averaging	0 : No averaging 1 : averaging 3 points in time 2 : averaging 3 points in time + 2 neighbours 3 : averaging 5 points in time 4 : averaging 5 points in time + 2 neighbours	rosservice call /flatscan/configure "command: 'set_parameters' subcommand: 'averaging' value: '0'"
store_parameters	-	-	rosservice call /flatscan/configure "command: 'store_parameters' subcommand: '' value: ''"
reset_mdi_counter	-	-	rosservice call /flatscan/configure "command: 'reset_mdi_counter' subcommand: '' value: ''"
reset_heartbeat_counter	-	-	rosservice call /flatscan/configure "command: 'reset_heartbeat_counter' subcommand: '' value: ''"
reset_emergency_counter	-	-	rosservice call /flatscan/configure "command: 'reset_emergency_counter' subcommand: '' value: ''"
set_led	set	color (color could be off, red, green, or orange)	rosservice call /flatscan/configure "command: 'set_led' subcommand: 'set' value: 'red'"
	blink	color1 color2 frequency (color1 and color2 could be off, red, green, or orange) (frequency could be 1 to 10)	rosservice call /flatscan/configure "command: 'set_led' subcommand: 'blink' value: 'green off 4'"