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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'"