bberrevoets/l3xz_sweep_scanner

ROS driver for Scanse Sweep 360° 2D LIDAR.

💾 l3xz_sweep_scanner

ROS driver for Scanse Sweep 360° 2D LIDAR.

How-to-build

cd $COLCON_WS/src
git clone https://github.com/107-systems/l3xz_sweep_scanner
cd $COLCON_WS
source /opt/ros/humble/setup.bash
colcon build --packages-select l3xz_sweep_scanner

How-to-run

cd $COLCON_WS
. install/setup.bash
ros2 launch l3xz_sweep_scanner laser.py
rviz2 --display-config src/l3xz_sweep_scanner/rviz/laser.rviz

Note: Possible you need to configure the right USB port in launch/laser.py.

Interface Documentation

Published Topics

Default Name	Type
/l3xz/laser	sensor_msgs/LaserScan

Parameters

Name	Default	Description
topic	laser	Name of ROS2 topic under which the sensor_msgs/LaserScan data is streamed.
serial_port	/dev/ttyUSB0	Serial port under which the Scanse Sweep is connected to the system.
rotation_speed	1-10	Rotations per second of the sensor head.
sample_rate	500, 750, 1000	Laser scan rate in Hz, i.e. 500 = 500 laser distance measurements per second.
frame_id	laser_frame	Topic under which the is published.