This node interfaces with an SF40/C and passes scan data to the laserscan topic.
Note: The SF40C should be configured to run at a baud rate of 921600. This is the default factory setting.
/laserscan (sensor_msgs/LaserScan)
A full 360 degrees of scan data is published to this topic at around 5Hz.
~port (string, default: /dev/ttyUSB0)
The communications port used to interface with the SF40C.
~frame_id (string, default: laser)
The transformation frame.
~angle_offset (int, default: 0)
Offset applied to scan forward direction.
This node interfaces with an SF45/B and passes point cloud data to the pointcloud topic.
/pointcloud (sensor_msgs/PointCloud2)
A configurable number of points are published to this topic. See the maxPoints parameter to control how often this topic is updated.
Note: Only a portion of the pointcloud is updated each time.
~port (string, default: /dev/ttyUSB0)
The communications port used to interface with the SF45/B.
~baudrate (int, default: 115200)
The baudrate used when interfacing with the SF45/B.
~frame_id (string, default: laser)
The transformation frame.
~maxPoints (number, default: 100)
The number of distance readings taken before a result is published to the /pointcloud topic.
~updateRate (int, default: 6)
The number of distance readings taken per second.
| Value | Readings per second |
|---|---|
| 1 | 50 |
| 2 | 100 |
| 3 | 200 |
| 4 | 400 |
| 5 | 500 |
| 6 | 625 |
| 7 | 1000 |
| 8 | 1250 |
| 9 | 1538 |
| 10 | 2000 |
| 11 | 2500 |
| 12 | 5000 |
~cycleDelay (int, default: 5)
Controls the speed of the scan, a higher cycle delay results in a slower scan (5 to 2000).
~lowAngleLimit (float, default -45)
Lower angle limit of the scan in degrees (-160 to -10).
~highAngleLimit (float, default 45)
Higher angle limit of the scan in degrees (10 to 160).