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sick_lms_5xx.launch
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<?xml version="1.0"?>
<!--
*****************************************************************************
* Launch Example File for SICK LMS 511 *
*****************************************************************************
-->
<!-- start and stop angle is given in [rad] -->
<!--
Check IP-address, if you scanner is not found after roslaunch.
-->
<!-- Using node option required="true" will close roslaunch after node exits -->
<launch>
<arg name="hostname" default="192.168.0.1"/>
<arg name="cloud_topic" default="cloud"/>
<arg name="frame_id" default="cloud"/>
<arg name="sw_pll_only_publish" default="true"/>
<arg name="nodename" default="sick_lms_5xx"/>
<arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
<!-- launch file for the lms_5xx series -->
<node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
<!-- launch-prefix="gdb -ex run - -args" -->
<!-- default values: -->
<!--
<param name="min_ang" type="double" value="-1.658062789" />
<param name="max_ang" type="double" value="1.658062789" />
<param name="intensity" type="bool" value="True" />
<param name="skip" type="int" value="0" />
<param name="time_offset" type="double" value="-0.001" />
<param name="publish_datagram" type="bool" value="False" />
<param name="subscribe_datagram" type="bool" value="false" />
<param name="device_number" type="int" value="0" />
<param name="range_min" type="double" value="0.05" />
-->
<param name="min_ang" type="double" value="-1.658062789" />
<param name="max_ang" type="double" value="1.658062789" />
<param name="cloud_topic" type="string" value="$(arg cloud_topic)"/>
<param name="frame_id" type="str" value="$(arg frame_id)"/>
<param name="scanner_type" type="string" value="sick_lms_5xx"/>
<param name="range_max" type="double" value="100.0"/>
<param name="intensity" type="bool" value="true"/>
<param name="intensity_resolution_16bit" type="bool" value="false"/>
<param name="hostname" type="string" value="$(arg hostname)"/>
<param name="port" type="string" value="2112"/>
<param name="timelimit" type="int" value="5"/>
<param name="use_binary_protocol" type="bool" value="true"/>
<param name="filter_echos" type="int" value="1"/> <!-- FREchoFilter settings: 0: first echo, 1: all echos, 2: last echo -->
<param name="sw_pll_only_publish" type="bool" value="$(arg sw_pll_only_publish)"/>
<param name="use_generation_timestamp" type="bool" value="true"/> <!-- Use the lidar generation timestamp (true, default) or send timestamp (false) for the software pll converted message timestamp -->
<param name="min_intensity" type="double" value="0.0"/> <!-- Set range of LaserScan messages to infinity, if intensity < min_intensity (default: 0) -->
<!-- possible angular resolutions are 1,0.6667,0.5,0.3333,0.25,0.1667
possible scan frequencies are 25,35,50,75,100 Hz
Make sure to check in the manual whether the desired scanning frequency
and angular resolution combination is available.
The parameters scan_freq and ang_res must always be used together.
<param name="ang_res" type="double" value="0.1667" />
<param name="scan_freq" type="double" value="25" />
-->
<!-- Apply an additional transform to the cartesian pointcloud, default: "0,0,0,0,0,0" (i.e. no transform) -->
<!-- Note: add_transform_xyz_rpy is specified by 6D pose x, y, z, roll, pitch, yaw in [m] resp. [rad] -->
<!-- It transforms a 3D point in cloud coordinates to 3D point in user defined world coordinates: -->
<!-- add_transform_xyz_rpy := T[world,cloud] with parent "world" and child "cloud", i.e. P_world = T[world,cloud] * P_cloud -->
<!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
<!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
<param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" />
<param name="start_services" type="bool" value="True"/> <!-- start ros service for cola commands -->
<param name="activate_lferec" type="bool" value="True"/> <!-- activate field monitoring by lferec messages -->
<param name="activate_lidoutputstate" type="bool" value="True"/> <!-- activate field monitoring by lidoutputstate messages -->
<param name="activate_lidinputstate" type="bool" value="True"/> <!-- activate field monitoring by lidinputstate messages -->
<param name="message_monitoring_enabled" type="bool" value="True" /> <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
<param name="read_timeout_millisec_default" type="int" value="5000"/> <!-- 5 sec read timeout in operational mode (measurement mode), default: 5000 milliseconds -->
<param name="read_timeout_millisec_startup" type="int" value="120000"/> <!-- 120 sec read timeout during startup (sensor may be starting up, which can take up to 120 sec.), default: 120000 milliseconds -->
<param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
<param name="client_authorization_pw" type="string" value="F4724744"/> <!-- Default password for client authorization -->
</node>
</launch>
<!--
Conversion between degree and rad
DEG RAD
-180 -3.141592654
-175 -3.054326191
-170 -2.967059728
-165 -2.879793266
-160 -2.792526803
-155 -2.705260341
-150 -2.617993878
-145 -2.530727415
-140 -2.443460953
-137.5 -2,3998277
-135 -2.35619449
-130 -2.268928028
-125 -2.181661565
-120 -2.094395102
-115 -2.00712864
-110 -1.919862177
-105 -1.832595715
-100 -1.745329252
-95 -1.658062789
-90 -1.570796327
-85 -1.483529864
-80 -1.396263402
-75 -1.308996939
-70 -1.221730476
-65 -1.134464014
-60 -1.047197551
-55 -0.959931089
-50 -0.872664626
-45 -0.785398163
-40 -0.698131701
-35 -0.610865238
-30 -0.523598776
-25 -0.436332313
-20 -0.34906585
-15 -0.261799388
-10 -0.174532925
-5 -0.087266463
0 0
5 0.087266463
10 0.174532925
15 0.261799388
20 0.34906585
25 0.436332313
30 0.523598776
35 0.610865238
40 0.698131701
45 0.785398163
50 0.872664626
55 0.959931089
60 1.047197551
65 1.134464014
70 1.221730476
75 1.308996939
80 1.396263402
85 1.483529864
90 1.570796327
95 1.658062789
100 1.745329252
105 1.832595715
110 1.919862177
115 2.00712864
120 2.094395102
125 2.181661565
130 2.268928028
135 2.35619449
137.5 2,3998277
140 2.443460953
145 2.530727415
150 2.617993878
155 2.705260341
160 2.792526803
165 2.879793266
170 2.967059728
175 3.054326191
180 3.141592654
185 3.228859116
190 3.316125579
195 3.403392041
200 3.490658504
205 3.577924967
210 3.665191429
215 3.752457892
220 3.839724354
225 3.926990817
230 4.01425728
235 4.101523742
240 4.188790205
245 4.276056667
250 4.36332313
255 4.450589593
260 4.537856055
265 4.625122518
270 4.71238898
275 4.799655443
280 4.886921906
285 4.974188368
290 5.061454831
295 5.148721293
300 5.235987756
305 5.323254219
310 5.410520681
315 5.497787144
320 5.585053606
325 5.672320069
330 5.759586532
335 5.846852994
340 5.934119457
345 6.021385919
350 6.108652382
355 6.195918845
360 6.283185307
-->