Overview

Xaxxon OpenLIDAR is an open hardware rotational laser scanner, using the Garmin LIDAR-LiteV3 sensor. Full specs and complete documentation can be found at xaxxon.com/xaxxon/openlidar

Node

lidarbroadcast.py

• Python driver for OpenLIDAR. Searches USB ports for connected sensor, automatically starts the motor and range broadcast, converting the data stream into a sensor_msgs/LaserScan message. Each message contains data from a single full revolution.

Published Topic

• /scan (sensor_msgs/LaserScan)

  • using TF frame ID "laser_frame"

Subscribed Topic

• /odom (nav_msgs/Odometry)

  • OPTIONAL - used by dropscan_turnrate parameter

Parameters

• minimum_range (double, default 0.5)

  • minimum output for laser sensor, meters

• maximum_range (double, default 40.0)

  • maximum output for laser sensor, meters

• rpm (integer, default 180)

  • revolution speed for lidar motor, revs per minute

• masks (string)

  • frame masks CW/RHR+ start-mask/stop-mask pairs, degrees 0-360, space separated

• dropscan_turnrate (integer, default 0)

  • blank scans when exceeding mobile base odom yaw rate, deg per sec, 0 to disable

  • Ignored if /odom topic unavailable

• park_offset (double, default 180.0)

  • sensor park (stop-position) offset from photo sensor, degrees

• forward_offset (double, default 189.0)

  • scan header offset from photo sensor, degrees

• read_frequency (double, default 715.0)

  • sensor read frequency, Hz

More Info

Full specs and complete documentation can be found at xaxxon.com/xaxxon/openlidar