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Open ROS driver for communicating with SlamTec Slamware devices

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opensw_ros

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.

Nodes

IMU Driver

The imu_driver node publishes the IMU data from a SlamWare device.

Subscribed topics

Published topics

Topic Type Description
imu sensor_msgs/Imu IMU sensor data

Parameters

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

Laser Driver

The laser_driver node publishes the laser scan data from a SlamWare device.

Subscribed topics

Published topics

Topic Type Description
scan sensor_msgs/Scan Laser scan sensor data

Parameters

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

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Open ROS driver for communicating with SlamTec Slamware devices

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