precaster_rps800 (indigo) - 0.1.1-0
The packages in the
precaster_rps800 repository were released into the
indigo distro by running
/usr/local/bin/bloom-release --rosdistro indigo --track indigo precaster_rps800 on
Thu, 22 Dec 2016 15:06:37 -0000
precaster_rangefinder_rps800 package was released.
Version of package(s) in repository
- upstream repository: https://github.com/erlerobot/precaster_RPS800
- release repository: unknown
- rosdistro version:
- old version:
- new version:
Versions of tools used:
Precaster rangefinder RPS800
RPS800 is designed as a compact and reliable laser distance measuring sensor. The pulse technology gives the good accuracy and response time in distance measuring and a stable output under the strong ambient light.
- Highly Customizable module fit for most duties.
- Adjustable High Speed measuring up to 2000HZ.
- Digital output with UART.
- TOF Non-Contact Measuring Low Consumption Sensor.
- Robot Eyes Distance Measuring
- Positioning and monitor of objects
- Security Applications Movement Detections
- Level and elevator Measuring
- Drone Dodge Actions Control
|Model No.||CA113 Spec.||CA113 Tolerance|
|Maximun measuring range||6 meters||6.5m|
|Minimum Measuring Range||0.1 meters||0.05m|
|Repeatability Accuracy from 0.5m to 1m||±20 mm||Standard Deviation 2σ, Kodak White Board|
|Repeatability Accuracy from 1m to 5m||±40 mm|
|Repeatability Accuracy over 6m||±1% of measured distance|
|Measurement Time||2000 Hz|
|Laser Radiation||Class 1|
|Operating Temperature Range||-5°C~40°C|
|Storage Temperature Range||-20°C~60°C|
|Serial Port Type||UART|
|Dimensions||61 x 21 x 18 mm|
Configuring precaster rangefinder rps800
Make sure that your node is able to access the data from the sensor
List the permissions of your serial port, for example in a Rpi2:
ls -l /dev/ttyAMA0
You will see something like to:
crw-rw-XX- 1 root dialout 204, 64 Dec 16 10:17 /dev/ttyAMA0
If XX is
rw: the rangefinder is configured properly.
If XX is
--: the rangefinder is not configured properly and you need to:
sudo chmod a+rw /dev/ttyAMA0
Compiling the code from sources
Clone this repository in a ROS workspace or create a new one
cd ~/ros_catkin_ws/src git clone https://github.com/erlerobot/precaster_rangefinder
Now compile the code:
cd ~/ros_catkin_ws/ catkin_make_isolated --install --pkg precaster_rangefinder_rps800
Starting a roscore
A ros core must be running:
We need to make sure that we have the correct configurations loaded on the parameter server.
If your sensor is not at the default
/dev/ttyAMA you have to indicate where it is below:
rosparam set /precaster_rangefinder_rps800/port /dev/ttyAMA0
The same idea with the baudrate:
rosparam set /precaster_rangefinder_rps800/baudrate 230400
Running the precaster rangefinder rps800 node
rosrun precaster_rangefinder_rps800 rps800
roslaunch precaster_rangefinder_rps800 rps800.launch
If you need to modify some parameters just do it in the launch file.