Open ROS driver for communicating with SlamTec Slamware devices such as the M2M1 Mapper over ethernet. Other SlamTec devices based on SlamWare may also be supported. For standalone lidar devices, such as the RPLidar S1, the rplidar_ros package should be used, which is based on a different interface and protocol.
The imu_driver node publishes the IMU data from a SlamWare device.
| Topic | Type | Description |
|---|---|---|
| imu | sensor_msgs/Imu |
IMU sensor data |
| Name | Type | Description | Default |
|---|---|---|---|
| host | string |
Host to connect to | "192.168.11.11" |
| frame_id | string |
Frame to use for the published message | "imu" |
| port | int |
TCP port to connect to | 1445 |
| rate | double |
Publish rate | 50.0 |
| use_raw_data | bool |
Use raw data fields | true |
The laser_driver node publishes the laser scan data from a SlamWare device.
| Topic | Type | Description |
|---|---|---|
| scan | sensor_msgs/Scan |
Laser scan sensor data |
| Name | Type | Description | Default |
|---|---|---|---|
| host | string |
Host to connect to | "192.168.11.11" |
| frame_id | string |
Frame to use for the published message | "laser" |
| max_range | double |
Max sensor range in meters | 40.0 |
| min_range | double |
Min sensor range in meters | 0.0 |
| port | int |
TCP port to connect to | 1445 |
| rate | double |
Publish rate | 20.0 |