ROS package for MICRO-EPSILON scanCONTROL LASER scanner
Parameter | Description |
---|---|
shutter_time | Duration during which the shutter is open. Unit is 10 microseconds. |
idle_time | Duration from last close of shutter to next open of shutter. Unit is 10 microseconds. Freuqency in Hz of scan is determined by 100000/(shutter_time+idle_time) |
container_size | Size of profile container. Sets the number of profiles which are collected by scanner and delivered together to PC. |
frame | The frame of the scanner. Has to be a valid tf frame and should be set at the middle of the emission of the laser |
path_to_device_properties(optional) | directory in which ‘device_properties.dat’ is located. Default is /opt/scanCONTROL/ |
topic (optional) | ROS-topic to which each scanned profile is published. Default is ‘laser_scan’ |
serial_number (optional) | Serial Number of the scanner. Used if more than one scanner is used in the same network. If left blank, connects to first found scanner. |
field_left (optional) | How much should meassurement field be restricted on the left side. Unit is % of whole field. Default is 0. |
field_right (optional) | How much should meassurement field be restricted on the right side. Unit is % of whole field. Default is 0. |
field_far (optional) | How much should meassurement field be restricted on the far side. Unit is % of whole field. Default is 0. |
field_near (optional) | How much should meassurement field be restricted on the near side. Unit is % of whole field. Default is 0. |
lag_compensation (optional) | Offset to eliminate constant network lag between scanner and PC. Unit is seconds. Default is 0- |