The ur50_lidar_driver package is a linux ROS driver for the LS-N301.
The package is tested on Ubuntu 20.04 with ROS Noetic.
This is a Catkin package. Make sure the package is on ROS_PACKAGE_PATH after cloning the package to your workspace. And the normal procedure for compling a catkin package will work.
cd your_work_space
catkin_make
Parameters
device_ip (string, default: 192.168.1.222)
By default, the IP address of the device is 192.168.1.222.
frame_id (string, default: lslidar)
The frame ID entry for the sent messages.
Published Topics
lslidar_packets (ur50_lidar_msgs/LslidarN301Packet)
Each message corresponds to a lslidar packet sent by the device through the Ethernet.
Parameters
min_range (double, 0.3)
max_range (double, 100.0)
Points outside this range will be removed.
frequency (frequency, 20.0)
Note that the driver does not change the frequency of the sensor.
publish_point_cloud (bool, false)
If set to true, the decoder will additionally send out a local point cloud consisting of the points in each revolution.
Published Topics
lslidar_sweep (ur50_lidar_msgs/LslidarN301Sweep)
The message arranges the points within each sweep based on its scan index and azimuth.
lslidar_point_cloud (sensor_msgs/PointCloud2)
This is only published when the publish_point_cloud is set to true in the launch file.
Node
roslaunch ur50_lidar_decoder ur50_lidar.launch
Note that this launch file launches both the driver and the decoder, which is the only launch file needed to be used.
Prefer to open an issue. You can also send an E-mail to shaohuashu@lslidar.com
RERTION V0.1 2000 points per circle v0.2 1000 points per circle