neo_sick_s300

Summary

The neo_sick_s300 package provides a means to access laser scan information from a Sick S300 scanner.

Location: https://github.com/neobotix/neo_sick_s300

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

Duration of the scanner delay (s)

frame_id:

Type	Default
string	lidar_1_link

Description

Name of the frame from which laser scanners are published

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.