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ROS API

hokuyo3d

hokuyo3d is a driver for VSSP1.1 (Volumetric Scanning Sensor Protocol) compliant Hokuyo 3D LIDAR.

Published Topics

• ~/hokuyo_cloud (sensor_msgs/PointCloud)

Output of measured point cloud in PointCloud message type which contains all multi echos with intensity. Published on demand.

• ~/hokuyo_cloud2 (sensor_msgs/PointCloud2)

Output of measured point cloud in PointCloud2 message type which contains all multi echos with intensity. Published on demand.

• ~/imu (sensor_msgs::Imu)

Output of embedded 6D gyro and accelerometer data.

• ~/mag (sensor_msgs::MagneticField)

Output of embedded 3D magnetic field vector.

Parameters

• ~ip (string, default: "192.168.0.10")

IP address of the sensor.

• ~port (int, default: 10940)

TCP Port of the sensor.

• ~interlace (int, default: 4)

Interlace setting of laser scanning. One means no interlace.

• ~frame_id (string, default: "hokuyo3d")

The TF frame ID in which point clouds will be returned.

• ~range_min (float, default: 0.0)

Points within range_min are dropped. This parameter is useful to remove ghost points nearby for early development version of this 3D sensors.

• ~output_cycle (string, default: "field")

Specifies timing of point cloud output. "frame": outputs for each interlace cycle (several fields), "field": one horizontal scan (tens of lines), "line": one vertical scan