Autonics LSC ROS2 Driver

This ROS2 Driver is for Autonics LSC Series

Table of Contents

• Supported Hardware
• ROS API
• Installation
• Start

1. Supported Hardware

1.1 Model name : LSC Series

Website : Autonics/LiDAR/LSC

2. ROS API

2.1 Published Topics

• scan(sensor_msgs/LaserScan) : Scan data from the device
• diagnostics(diagnostic_updater) : Scan topic status

  2.2 Parameters

  2.2.1 Dynamic

• frame_id(default : laser, type : string) - Frame name of scan data
• range_min(default : 0.05, type : double) - Minimum range value [m]
• range_max(default : 25.0, type : double) - Maximum range value [m]
• intensities(default : true, type : string) - Flag to choose whether putting intensities information into topic message

  2.2.2 Static

• addr(default : 192.168.0.1, type : string) - Device ip address
• port(default : 8000, type : string) - Port number of device
• pub_topic(default : scan. type : string) - Name of published topic
• diagnostics_tolerance(default : 0.1, type : double) - Tolerance of topic frequency
• diagnostics_windows_time(default : 1, type : int) - Number of events to consider in the statics
• angle_min(default : -45.0, type : double) - Maximum angle value [deg]
• angle_max(default : 225.0, type : double) - Minimum angle value [deg]
• angle_offset(default : 0.0, type : double) - Angle offset[deg]
• ip_change(default : false, type : bool) - Value to enable ip_change
• prev_addr(default : , type : string) - Ip address of device
• new_addr(default : , type : string) - Ip address to change

3. Installation

3.1 from source

3.1.1 LINUX

source /opt/ros/$ROS_DISTRO/setup.bash
mkdir -p ~/colcon_ws/src 
cd ~/colcon_ws 
colcon build --symlink-install
source ~/colcon_ws/install/local_setup.bash
cd ~/colcon_ws/src 
git clone https://github.com/AutonicsLiDAR/lsc_ros2_driver.git

sudo apt update 
sudo apt install ros-$ROS_DISTRO-diagnostic-updater

cd ~/colcon_ws 
colcon build --packages-select lsc_ros2_driver --event-handlers console_direct+

source ~/colcon_ws/install/local_setup.bash

3.1.2 WINDOWS

C:\dev\ros2_humble\local_setup.bat
mkdir -p C:\dev\colcon_ws\src 
cd C:\dev\colcon_ws
colcon build --symlink-install
C:\dev\colcon_ws\install\local_setup.bat

cd C:\dev\colcon_ws\src
git clone https://github.com/AutonicsLiDAR/lsc_ros2_driver.git
git clone https://github.com/ros/diagnostics.git -b ros2
cd C:\dev\colcon_ws

colcon build --packages-select diagnostic_updater --event-handlers console_direct+
colcon build --packages-select lsc_ros2_driver --event-handlers console_direct+

C:\dev\colcon_ws\install\local_setup.bat

3.2 from binary

sudo apt install ros-$ROS_DISTRO-lsc-ros2-driver

4. Start

ros2 launch lsc_ros2_driver lsc_ros2_driver_launch.py