Precaster RPS800 ROS driver
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README.md

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

The precaster_rangefinder_rps800 package was released.

Version of package(s) in repository precaster_rps800:

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.

Features

  • 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.

Applications

  • Robot Eyes Distance Measuring
  • Positioning and monitor of objects
  • Security Applications Movement Detections
  • Level and elevator Measuring
  • Drone Dodge Actions Control

Technical data

 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
Unit Millimeter
Power Source 6V ±0.2V
Power Consumption 0.25W
Laser Radiation Class 1
Laser Wavelength 808nm
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
Weight 17.6g ±5g

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

Launching manually

Starting a roscore

A ros core must be running:

roscore

Setting Parameters

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

Launch file

roslaunch precaster_rangefinder_rps800 rps800.launch

If you need to modify some parameters just do it in the launch file.