.. _neo-sick-s300: neo_sick_s300 ============= Summary ------- The neo_sick_s300 package provides a means to access laser scan information from a Sick S300 scanner. Location for ROS: https://github.com/neobotix/neo_sick_s300\ Location for ROS 2: https://github.com/neobotix/neo_sick_s300-2 neo_sick_s300_node ------------------ (usually the node named as lidar_1, lidar_2, etc) Connects to the S300 scanner over serial bus and publishes the data to ROS. Publishes: * /lidar_x/scan Parameters ########## :port: ============== =============== Type Default -------------- --------------- string /dev/neo-s300-1 ============== =============== Description Serial port to which the laser scanners are connected :baud: ============== ======= Type Default -------------- ------- int 500000 ============== ======= Description Baud rate for communication :scan_duration: ============== ======= Type Default -------------- ------- double 0.025 ============== ======= Description Duration of each scans (s) :scan_delay: ============== ======= Type Default -------------- ------- double 0.045 ============== ======= Description Duration of the scanner delay (s) :frame_id: ============== ============ Type Default -------------- ------------ std::string lidar_1_link ============== ============ Description Name of the frame from which laser scanners are published .. attention:: The support for `frame_id` parameter is depreciated in ROS 2. See the notes for ROS 2 below. Notes for ROS 2 ############### The namespacing for the laser scanners are described directly through the launch file. It is assumed that the namespacing string and the frame_id of the laser scanners are the same. Thus, this needs to be noted while configuring the laser scanners. The configuration of the `neo_mp_400 `_ serves as a nice example to address this point. neo_scan_filter_node -------------------- (usually named as lidar_1_filter, lidar_2_filter, etc) Filters out ranges from the original scan data where the view is obstructed, by setting the corresponding ranges to zero. Publishes: * /lidar_x/scan_filtered Subscribes: * /lidar_x/scan Parameters ########## :scan_intervals: ============== =============== Type Default -------------- --------------- vector {-2.27, 2.27} ============== =============== Description scanning range of the laser scanners {min_angle, max_angle}. Angles are given in radians.