ROS Index
|
psen_scan_v2 package from psen_scan_v2 repopsen_scan_v2 |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.10.2 |
| License | LGPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | The psen_scan_v2 package is a ROS integration of the PSENscan safety laser scanner product. |
| Checkout URI | https://github.com/PilzDE/psen_scan_v2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-06-21 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Christian Döhn
- Immanuel Martini
- Richard Feistenauer
Authors
- Pilz GmbH + Co. KG
PILZ safety laser scanner PSENscan
Package: psen_scan_v2
The psen_scan_v2 package is a ROS integration driver for the PSENscan safety laser scanner product. It lets you integrate the laser scanner data into your ROS Environment easily. Using the standard [sensor_msgs/LaserScan][] message format ensures compatibility with other laserscan-post-processing nodes such as [gmapping][]. For a general overview, link collection and tutorials we refer to the ROS wiki page.
Common features:
- Compliant and approved in accordance with:
- EN/IEC 61496-1: Type 3
- EN ISO 13849-1: PL d
- IEC 61508: SIL 2
- Opening angle: 275°
- Operating range: 3.0 or 5.5 m safety zone, 40 m warning zone
- Reaction time: 62 ms
- Protection type: IP65
- Dimensions (H x W x D) in mm: 152 x 102 x 112.5
The PSENscan firmware (3.1.x) is supported on the following models:
Light versions
| Type | Features | Order number | |———————–|————————————————————————–|————–| | PSEN sc L 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000012 | | PSEN sc L 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000013 |
Additional features: Muting, EDM, Override
Master versions
| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc M 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000016 | | PSEN sc M 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000017 | | PSEN sc M 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000019 | | PSEN sc ME 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000034 |
Additional features: Muting, EDM, Override, restart in accordance with EN ISO 61496-3, vertical applications
Subscriber versions
| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc S 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000020 | | PSEN sc S 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000021 |
Additional features: reference marks, vertical applications
C++ standalone library
If you are interested in using the PSENscan safety laser scanner without ROS, please take a look at our C++ standalone library. You can read more about it in the standalone folder.
Table of Contents
Installation
Needed Equipment:
- PSENscan safety laser scanner
- ROS Machine
To use the package, you can install prebuilt packages with
sudo apt install ros-$ROS_DISTRO-psen-scan-v2
Usage
This package is capable to read data from 1 Master safety laser scanner, and up to 3 Subscribers safety laser scanners, as shown below:
To read data and publishing scans from 1 safety laser scanner (Master, Light), execute in a command line:
```bash roslaunch psen_scan_v2 psen_scan_v2.launch sensor_ip:=192.168.0.10
File truncated at 100 lines see the full file
Changelog for package psen_scan_v2
Forthcoming
- Add PSENscan Subscribers up to 3 (#338)
- Add PSENscan cad meshes (#338)
- Contributors: Pilz GmbH and Co. KG
0.10.2 (2022-11-03)
- Remove zoneset bits from IOState.input field since its redundant to the active_zoneset field (#311)
- Inform about missing configuration confirmation
- Ignore changes of unused IOs. Fix #321
- Fill "io_states" vector as received instead of order by theta to avoid flickering. Fix #320
- Fixed bug of multiple zonesets being visible #328
- Contributors: Pilz GmbH and Co. KG
0.10.1 (2022-01-24)
- Separate 'PinState' formating from 'formatRange' (#313)
- Contributors: Pilz GmbH and Co. KG
0.10.0 (2022-01-20)
- Change to new versioning method for ROS1 (0.10.0+) and ROS2 (0.20.0+).
- Deprecate get/set methods with 'get/set' prefix in favour of methods without the prefix(#298)
- ADD IO states to LaserScan and publish them at ~/io_state (#281)
- Renaming Slave to Subscriber (#303)
- Contributors: Pilz GmbH and Co. KG
0.3.4 (2021-12-20)
- Prevent error when diagnostics are disabled. Fix #294
- Set exception in stop-future
- Apply clang-tidy fixes to header-files. Fix #277
- Remove latched flag from active zoneset topic
- API change: convenience usage of ScannerConfiguration
- Remove unrelated parameter DEFAULT_X_AXIS_ROTATION from standalone
- Contributors: Pilz GmbH and Co. KG
0.3.3 (2021-11-10)
- Introduce error state and set exception in start-future
- Remove dependency on pilz_testutils
- Always build hardware tests
- Internal refactorings
- Importing the config xml-file and publishing the zoneconfiguration
- Add active zoneset to LaserScan
- Publish active zoneset id to ~/active_zoneset
- Add active zoneset visualization in rviz
- Contributors: Pilz GmbH and Co. KG
0.3.2 (2021-09-16)
-
- Improve performance of standalone part
-
- Introduce RawDataPtr
- Write to std::stringstream instead of constructing from std::string
- Pass by reference wherever possible
-
Make release build the default
-
Calculate timestamp as the time of the first ray (udp communication time is neglected)
-
API: Add timestamp (nanoseconds since epoch) to LaserScan
-
API: Add scan counter to LaserScan
-
API: remove LaserScan equality operator
- Contributors: Pilz GmbH and Co. KG
0.3.1 (2021-07-21)
- Rename urdf links
- Apply tf prefix equals node name
- API change: rename launch-file argument prefix->tf_prefix
- Contributors: Pilz GmbH and Co. KG
0.3.0 (2021-06-29)
- Set prefix for node name (same value as for tf frames)
- Introduce bringup.launch for starting only the scanner node
- Omit closing the data client before destruction. Fixes #212
- Distance value at angle_end is now included in the scan range
- Default scan range changed to [-137.4..137.4]deg at 0.1 deg resolution
- Add options for modifying resolution and enabling intensities
- Add launchfile option for disabling rviz at startup (default: enable)
- Handle the infinity codes from the scanner correctly
- Inform user about current scan range
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bringup.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
- sensor_ip [default: 192.168.0.10]
- nr_subscribers [default: 0]
- tf_prefix [default: laser_1]
- angle_start [default: $(eval radians(-137.4))]
- angle_end [default: $(eval radians(137.4))]
- intensities [default: false]
- resolution [default: $(eval radians(0.5))]
- host_ip [default: auto]
- host_udp_port_data [default: 55115]
- host_udp_port_control [default: 55116]
- fragmented_scans [default: false]
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
- launch/psen_scan_v2.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
- sensor_ip [default: 192.168.0.10]
- nr_subscribers [default: 0]
- tf_prefix [default: laser_1]
- tf_prefix_sub0 [default: laser_1_Subscriber0]
- tf_prefix_sub1 [default: laser_1_Subscriber1]
- tf_prefix_sub2 [default: laser_1_Subscriber2]
- angle_start [default: $(eval radians(-137.4))]
- angle_end [default: $(eval radians(137.4))]
- intensities [default: false]
- resolution [default: $(eval radians(0.5))]
- host_ip [default: auto]
- host_udp_port_data [default: 55115]
- host_udp_port_control [default: 55116]
- fragmented_scans [default: false]
- config_file [default: ]
- rviz [default: true]
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
- test/acceptance_tests/acceptancetest_multiple_zones_display.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
Messages
Services
Plugins
Recent questions tagged psen_scan_v2 at Robotics Stack Exchange
|
|
psen_scan_v2 package from psen_scan_v2 repopsen_scan_v2 |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.10.2 |
| License | LGPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | The psen_scan_v2 package is a ROS integration of the PSENscan safety laser scanner product. |
| Checkout URI | https://github.com/PilzDE/psen_scan_v2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-06-21 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Christian Döhn
- Immanuel Martini
- Richard Feistenauer
Authors
- Pilz GmbH + Co. KG
PILZ safety laser scanner PSENscan
Package: psen_scan_v2
The psen_scan_v2 package is a ROS integration driver for the PSENscan safety laser scanner product. It lets you integrate the laser scanner data into your ROS Environment easily. Using the standard [sensor_msgs/LaserScan][] message format ensures compatibility with other laserscan-post-processing nodes such as [gmapping][]. For a general overview, link collection and tutorials we refer to the ROS wiki page.
Common features:
- Compliant and approved in accordance with:
- EN/IEC 61496-1: Type 3
- EN ISO 13849-1: PL d
- IEC 61508: SIL 2
- Opening angle: 275°
- Operating range: 3.0 or 5.5 m safety zone, 40 m warning zone
- Reaction time: 62 ms
- Protection type: IP65
- Dimensions (H x W x D) in mm: 152 x 102 x 112.5
The PSENscan firmware (3.1.x) is supported on the following models:
Light versions
| Type | Features | Order number | |———————–|————————————————————————–|————–| | PSEN sc L 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000012 | | PSEN sc L 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000013 |
Additional features: Muting, EDM, Override
Master versions
| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc M 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000016 | | PSEN sc M 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000017 | | PSEN sc M 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000019 | | PSEN sc ME 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000034 |
Additional features: Muting, EDM, Override, restart in accordance with EN ISO 61496-3, vertical applications
Subscriber versions
| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc S 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000020 | | PSEN sc S 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000021 |
Additional features: reference marks, vertical applications
C++ standalone library
If you are interested in using the PSENscan safety laser scanner without ROS, please take a look at our C++ standalone library. You can read more about it in the standalone folder.
Table of Contents
Installation
Needed Equipment:
- PSENscan safety laser scanner
- ROS Machine
To use the package, you can install prebuilt packages with
sudo apt install ros-$ROS_DISTRO-psen-scan-v2
Usage
This package is capable to read data from 1 Master safety laser scanner, and up to 3 Subscribers safety laser scanners, as shown below:
To read data and publishing scans from 1 safety laser scanner (Master, Light), execute in a command line:
```bash roslaunch psen_scan_v2 psen_scan_v2.launch sensor_ip:=192.168.0.10
File truncated at 100 lines see the full file
Changelog for package psen_scan_v2
Forthcoming
- Add PSENscan Subscribers up to 3 (#338)
- Add PSENscan cad meshes (#338)
- Contributors: Pilz GmbH and Co. KG
0.10.2 (2022-11-03)
- Remove zoneset bits from IOState.input field since its redundant to the active_zoneset field (#311)
- Inform about missing configuration confirmation
- Ignore changes of unused IOs. Fix #321
- Fill "io_states" vector as received instead of order by theta to avoid flickering. Fix #320
- Fixed bug of multiple zonesets being visible #328
- Contributors: Pilz GmbH and Co. KG
0.10.1 (2022-01-24)
- Separate 'PinState' formating from 'formatRange' (#313)
- Contributors: Pilz GmbH and Co. KG
0.10.0 (2022-01-20)
- Change to new versioning method for ROS1 (0.10.0+) and ROS2 (0.20.0+).
- Deprecate get/set methods with 'get/set' prefix in favour of methods without the prefix(#298)
- ADD IO states to LaserScan and publish them at ~/io_state (#281)
- Renaming Slave to Subscriber (#303)
- Contributors: Pilz GmbH and Co. KG
0.3.4 (2021-12-20)
- Prevent error when diagnostics are disabled. Fix #294
- Set exception in stop-future
- Apply clang-tidy fixes to header-files. Fix #277
- Remove latched flag from active zoneset topic
- API change: convenience usage of ScannerConfiguration
- Remove unrelated parameter DEFAULT_X_AXIS_ROTATION from standalone
- Contributors: Pilz GmbH and Co. KG
0.3.3 (2021-11-10)
- Introduce error state and set exception in start-future
- Remove dependency on pilz_testutils
- Always build hardware tests
- Internal refactorings
- Importing the config xml-file and publishing the zoneconfiguration
- Add active zoneset to LaserScan
- Publish active zoneset id to ~/active_zoneset
- Add active zoneset visualization in rviz
- Contributors: Pilz GmbH and Co. KG
0.3.2 (2021-09-16)
-
- Improve performance of standalone part
-
- Introduce RawDataPtr
- Write to std::stringstream instead of constructing from std::string
- Pass by reference wherever possible
-
Make release build the default
-
Calculate timestamp as the time of the first ray (udp communication time is neglected)
-
API: Add timestamp (nanoseconds since epoch) to LaserScan
-
API: Add scan counter to LaserScan
-
API: remove LaserScan equality operator
- Contributors: Pilz GmbH and Co. KG
0.3.1 (2021-07-21)
- Rename urdf links
- Apply tf prefix equals node name
- API change: rename launch-file argument prefix->tf_prefix
- Contributors: Pilz GmbH and Co. KG
0.3.0 (2021-06-29)
- Set prefix for node name (same value as for tf frames)
- Introduce bringup.launch for starting only the scanner node
- Omit closing the data client before destruction. Fixes #212
- Distance value at angle_end is now included in the scan range
- Default scan range changed to [-137.4..137.4]deg at 0.1 deg resolution
- Add options for modifying resolution and enabling intensities
- Add launchfile option for disabling rviz at startup (default: enable)
- Handle the infinity codes from the scanner correctly
- Inform user about current scan range
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bringup.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
- sensor_ip [default: 192.168.0.10]
- nr_subscribers [default: 0]
- tf_prefix [default: laser_1]
- angle_start [default: $(eval radians(-137.4))]
- angle_end [default: $(eval radians(137.4))]
- intensities [default: false]
- resolution [default: $(eval radians(0.5))]
- host_ip [default: auto]
- host_udp_port_data [default: 55115]
- host_udp_port_control [default: 55116]
- fragmented_scans [default: false]
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
- launch/psen_scan_v2.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
- sensor_ip [default: 192.168.0.10]
- nr_subscribers [default: 0]
- tf_prefix [default: laser_1]
- tf_prefix_sub0 [default: laser_1_Subscriber0]
- tf_prefix_sub1 [default: laser_1_Subscriber1]
- tf_prefix_sub2 [default: laser_1_Subscriber2]
- angle_start [default: $(eval radians(-137.4))]
- angle_end [default: $(eval radians(137.4))]
- intensities [default: false]
- resolution [default: $(eval radians(0.5))]
- host_ip [default: auto]
- host_udp_port_data [default: 55115]
- host_udp_port_control [default: 55116]
- fragmented_scans [default: false]
- config_file [default: ]
- rviz [default: true]
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
- test/acceptance_tests/acceptancetest_multiple_zones_display.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
Messages
Services
Plugins
Recent questions tagged psen_scan_v2 at Robotics Stack Exchange
|
|
psen_scan_v2 package from psen_scan_v2 repopsen_scan_v2 |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.10.2 |
| License | LGPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | The psen_scan_v2 package is a ROS integration of the PSENscan safety laser scanner product. |
| Checkout URI | https://github.com/PilzDE/psen_scan_v2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-06-21 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Christian Döhn
- Immanuel Martini
- Richard Feistenauer
Authors
- Pilz GmbH + Co. KG
PILZ safety laser scanner PSENscan
Package: psen_scan_v2
The psen_scan_v2 package is a ROS integration driver for the PSENscan safety laser scanner product. It lets you integrate the laser scanner data into your ROS Environment easily. Using the standard [sensor_msgs/LaserScan][] message format ensures compatibility with other laserscan-post-processing nodes such as [gmapping][]. For a general overview, link collection and tutorials we refer to the ROS wiki page.
Common features:
- Compliant and approved in accordance with:
- EN/IEC 61496-1: Type 3
- EN ISO 13849-1: PL d
- IEC 61508: SIL 2
- Opening angle: 275°
- Operating range: 3.0 or 5.5 m safety zone, 40 m warning zone
- Reaction time: 62 ms
- Protection type: IP65
- Dimensions (H x W x D) in mm: 152 x 102 x 112.5
The PSENscan firmware (3.1.x) is supported on the following models:
Light versions
| Type | Features | Order number | |———————–|————————————————————————–|————–| | PSEN sc L 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000012 | | PSEN sc L 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000013 |
Additional features: Muting, EDM, Override
Master versions
| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc M 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000016 | | PSEN sc M 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000017 | | PSEN sc M 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000019 | | PSEN sc ME 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000034 |
Additional features: Muting, EDM, Override, restart in accordance with EN ISO 61496-3, vertical applications
Subscriber versions
| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc S 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000020 | | PSEN sc S 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000021 |
Additional features: reference marks, vertical applications
C++ standalone library
If you are interested in using the PSENscan safety laser scanner without ROS, please take a look at our C++ standalone library. You can read more about it in the standalone folder.
Table of Contents
Installation
Needed Equipment:
- PSENscan safety laser scanner
- ROS Machine
To use the package, you can install prebuilt packages with
sudo apt install ros-$ROS_DISTRO-psen-scan-v2
Usage
This package is capable to read data from 1 Master safety laser scanner, and up to 3 Subscribers safety laser scanners, as shown below:
To read data and publishing scans from 1 safety laser scanner (Master, Light), execute in a command line:
```bash roslaunch psen_scan_v2 psen_scan_v2.launch sensor_ip:=192.168.0.10
File truncated at 100 lines see the full file
Changelog for package psen_scan_v2
Forthcoming
- Add PSENscan Subscribers up to 3 (#338)
- Add PSENscan cad meshes (#338)
- Contributors: Pilz GmbH and Co. KG
0.10.2 (2022-11-03)
- Remove zoneset bits from IOState.input field since its redundant to the active_zoneset field (#311)
- Inform about missing configuration confirmation
- Ignore changes of unused IOs. Fix #321
- Fill "io_states" vector as received instead of order by theta to avoid flickering. Fix #320
- Fixed bug of multiple zonesets being visible #328
- Contributors: Pilz GmbH and Co. KG
0.10.1 (2022-01-24)
- Separate 'PinState' formating from 'formatRange' (#313)
- Contributors: Pilz GmbH and Co. KG
0.10.0 (2022-01-20)
- Change to new versioning method for ROS1 (0.10.0+) and ROS2 (0.20.0+).
- Deprecate get/set methods with 'get/set' prefix in favour of methods without the prefix(#298)
- ADD IO states to LaserScan and publish them at ~/io_state (#281)
- Renaming Slave to Subscriber (#303)
- Contributors: Pilz GmbH and Co. KG
0.3.4 (2021-12-20)
- Prevent error when diagnostics are disabled. Fix #294
- Set exception in stop-future
- Apply clang-tidy fixes to header-files. Fix #277
- Remove latched flag from active zoneset topic
- API change: convenience usage of ScannerConfiguration
- Remove unrelated parameter DEFAULT_X_AXIS_ROTATION from standalone
- Contributors: Pilz GmbH and Co. KG
0.3.3 (2021-11-10)
- Introduce error state and set exception in start-future
- Remove dependency on pilz_testutils
- Always build hardware tests
- Internal refactorings
- Importing the config xml-file and publishing the zoneconfiguration
- Add active zoneset to LaserScan
- Publish active zoneset id to ~/active_zoneset
- Add active zoneset visualization in rviz
- Contributors: Pilz GmbH and Co. KG
0.3.2 (2021-09-16)
-
- Improve performance of standalone part
-
- Introduce RawDataPtr
- Write to std::stringstream instead of constructing from std::string
- Pass by reference wherever possible
-
Make release build the default
-
Calculate timestamp as the time of the first ray (udp communication time is neglected)
-
API: Add timestamp (nanoseconds since epoch) to LaserScan
-
API: Add scan counter to LaserScan
-
API: remove LaserScan equality operator
- Contributors: Pilz GmbH and Co. KG
0.3.1 (2021-07-21)
- Rename urdf links
- Apply tf prefix equals node name
- API change: rename launch-file argument prefix->tf_prefix
- Contributors: Pilz GmbH and Co. KG
0.3.0 (2021-06-29)
- Set prefix for node name (same value as for tf frames)
- Introduce bringup.launch for starting only the scanner node
- Omit closing the data client before destruction. Fixes #212
- Distance value at angle_end is now included in the scan range
- Default scan range changed to [-137.4..137.4]deg at 0.1 deg resolution
- Add options for modifying resolution and enabling intensities
- Add launchfile option for disabling rviz at startup (default: enable)
- Handle the infinity codes from the scanner correctly
- Inform user about current scan range
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bringup.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
- sensor_ip [default: 192.168.0.10]
- nr_subscribers [default: 0]
- tf_prefix [default: laser_1]
- angle_start [default: $(eval radians(-137.4))]
- angle_end [default: $(eval radians(137.4))]
- intensities [default: false]
- resolution [default: $(eval radians(0.5))]
- host_ip [default: auto]
- host_udp_port_data [default: 55115]
- host_udp_port_control [default: 55116]
- fragmented_scans [default: false]
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
- launch/psen_scan_v2.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
- sensor_ip [default: 192.168.0.10]
- nr_subscribers [default: 0]
- tf_prefix [default: laser_1]
- tf_prefix_sub0 [default: laser_1_Subscriber0]
- tf_prefix_sub1 [default: laser_1_Subscriber1]
- tf_prefix_sub2 [default: laser_1_Subscriber2]
- angle_start [default: $(eval radians(-137.4))]
- angle_end [default: $(eval radians(137.4))]
- intensities [default: false]
- resolution [default: $(eval radians(0.5))]
- host_ip [default: auto]
- host_udp_port_data [default: 55115]
- host_udp_port_control [default: 55116]
- fragmented_scans [default: false]
- config_file [default: ]
- rviz [default: true]
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
- test/acceptance_tests/acceptancetest_multiple_zones_display.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
Messages
Services
Plugins
Recent questions tagged psen_scan_v2 at Robotics Stack Exchange
|
|
psen_scan_v2 package from psen_scan_v2 repopsen_scan_v2 |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.10.2 |
| License | LGPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | The psen_scan_v2 package is a ROS integration of the PSENscan safety laser scanner product. |
| Checkout URI | https://github.com/PilzDE/psen_scan_v2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-06-21 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Christian Döhn
- Immanuel Martini
- Richard Feistenauer
Authors
- Pilz GmbH + Co. KG
PILZ safety laser scanner PSENscan
Package: psen_scan_v2
The psen_scan_v2 package is a ROS integration driver for the PSENscan safety laser scanner product. It lets you integrate the laser scanner data into your ROS Environment easily. Using the standard [sensor_msgs/LaserScan][] message format ensures compatibility with other laserscan-post-processing nodes such as [gmapping][]. For a general overview, link collection and tutorials we refer to the ROS wiki page.
Common features:
- Compliant and approved in accordance with:
- EN/IEC 61496-1: Type 3
- EN ISO 13849-1: PL d
- IEC 61508: SIL 2
- Opening angle: 275°
- Operating range: 3.0 or 5.5 m safety zone, 40 m warning zone
- Reaction time: 62 ms
- Protection type: IP65
- Dimensions (H x W x D) in mm: 152 x 102 x 112.5
The PSENscan firmware (3.1.x) is supported on the following models:
Light versions
| Type | Features | Order number | |———————–|————————————————————————–|————–| | PSEN sc L 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000012 | | PSEN sc L 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000013 |
Additional features: Muting, EDM, Override
Master versions
| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc M 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000016 | | PSEN sc M 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000017 | | PSEN sc M 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000019 | | PSEN sc ME 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000034 |
Additional features: Muting, EDM, Override, restart in accordance with EN ISO 61496-3, vertical applications
Subscriber versions
| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc S 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000020 | | PSEN sc S 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000021 |
Additional features: reference marks, vertical applications
C++ standalone library
If you are interested in using the PSENscan safety laser scanner without ROS, please take a look at our C++ standalone library. You can read more about it in the standalone folder.
Table of Contents
Installation
Needed Equipment:
- PSENscan safety laser scanner
- ROS Machine
To use the package, you can install prebuilt packages with
sudo apt install ros-$ROS_DISTRO-psen-scan-v2
Usage
This package is capable to read data from 1 Master safety laser scanner, and up to 3 Subscribers safety laser scanners, as shown below:
To read data and publishing scans from 1 safety laser scanner (Master, Light), execute in a command line:
```bash roslaunch psen_scan_v2 psen_scan_v2.launch sensor_ip:=192.168.0.10
File truncated at 100 lines see the full file
Changelog for package psen_scan_v2
Forthcoming
- Add PSENscan Subscribers up to 3 (#338)
- Add PSENscan cad meshes (#338)
- Contributors: Pilz GmbH and Co. KG
0.10.2 (2022-11-03)
- Remove zoneset bits from IOState.input field since its redundant to the active_zoneset field (#311)
- Inform about missing configuration confirmation
- Ignore changes of unused IOs. Fix #321
- Fill "io_states" vector as received instead of order by theta to avoid flickering. Fix #320
- Fixed bug of multiple zonesets being visible #328
- Contributors: Pilz GmbH and Co. KG
0.10.1 (2022-01-24)
- Separate 'PinState' formating from 'formatRange' (#313)
- Contributors: Pilz GmbH and Co. KG
0.10.0 (2022-01-20)
- Change to new versioning method for ROS1 (0.10.0+) and ROS2 (0.20.0+).
- Deprecate get/set methods with 'get/set' prefix in favour of methods without the prefix(#298)
- ADD IO states to LaserScan and publish them at ~/io_state (#281)
- Renaming Slave to Subscriber (#303)
- Contributors: Pilz GmbH and Co. KG
0.3.4 (2021-12-20)
- Prevent error when diagnostics are disabled. Fix #294
- Set exception in stop-future
- Apply clang-tidy fixes to header-files. Fix #277
- Remove latched flag from active zoneset topic
- API change: convenience usage of ScannerConfiguration
- Remove unrelated parameter DEFAULT_X_AXIS_ROTATION from standalone
- Contributors: Pilz GmbH and Co. KG
0.3.3 (2021-11-10)
- Introduce error state and set exception in start-future
- Remove dependency on pilz_testutils
- Always build hardware tests
- Internal refactorings
- Importing the config xml-file and publishing the zoneconfiguration
- Add active zoneset to LaserScan
- Publish active zoneset id to ~/active_zoneset
- Add active zoneset visualization in rviz
- Contributors: Pilz GmbH and Co. KG
0.3.2 (2021-09-16)
-
- Improve performance of standalone part
-
- Introduce RawDataPtr
- Write to std::stringstream instead of constructing from std::string
- Pass by reference wherever possible
-
Make release build the default
-
Calculate timestamp as the time of the first ray (udp communication time is neglected)
-
API: Add timestamp (nanoseconds since epoch) to LaserScan
-
API: Add scan counter to LaserScan
-
API: remove LaserScan equality operator
- Contributors: Pilz GmbH and Co. KG
0.3.1 (2021-07-21)
- Rename urdf links
- Apply tf prefix equals node name
- API change: rename launch-file argument prefix->tf_prefix
- Contributors: Pilz GmbH and Co. KG
0.3.0 (2021-06-29)
- Set prefix for node name (same value as for tf frames)
- Introduce bringup.launch for starting only the scanner node
- Omit closing the data client before destruction. Fixes #212
- Distance value at angle_end is now included in the scan range
- Default scan range changed to [-137.4..137.4]deg at 0.1 deg resolution
- Add options for modifying resolution and enabling intensities
- Add launchfile option for disabling rviz at startup (default: enable)
- Handle the infinity codes from the scanner correctly
- Inform user about current scan range
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bringup.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
- sensor_ip [default: 192.168.0.10]
- nr_subscribers [default: 0]
- tf_prefix [default: laser_1]
- angle_start [default: $(eval radians(-137.4))]
- angle_end [default: $(eval radians(137.4))]
- intensities [default: false]
- resolution [default: $(eval radians(0.5))]
- host_ip [default: auto]
- host_udp_port_data [default: 55115]
- host_udp_port_control [default: 55116]
- fragmented_scans [default: false]
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
- launch/psen_scan_v2.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
- sensor_ip [default: 192.168.0.10]
- nr_subscribers [default: 0]
- tf_prefix [default: laser_1]
- tf_prefix_sub0 [default: laser_1_Subscriber0]
- tf_prefix_sub1 [default: laser_1_Subscriber1]
- tf_prefix_sub2 [default: laser_1_Subscriber2]
- angle_start [default: $(eval radians(-137.4))]
- angle_end [default: $(eval radians(137.4))]
- intensities [default: false]
- resolution [default: $(eval radians(0.5))]
- host_ip [default: auto]
- host_udp_port_data [default: 55115]
- host_udp_port_control [default: 55116]
- fragmented_scans [default: false]
- config_file [default: ]
- rviz [default: true]
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
- test/acceptance_tests/acceptancetest_multiple_zones_display.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
Messages
Services
Plugins
Recent questions tagged psen_scan_v2 at Robotics Stack Exchange
|
|
psen_scan_v2 package from psen_scan_v2 repopsen_scan_v2 |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.10.2 |
| License | LGPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | The psen_scan_v2 package is a ROS integration of the PSENscan safety laser scanner product. |
| Checkout URI | https://github.com/PilzDE/psen_scan_v2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-06-21 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Christian Döhn
- Immanuel Martini
- Richard Feistenauer
Authors
- Pilz GmbH + Co. KG
PILZ safety laser scanner PSENscan
Package: psen_scan_v2
The psen_scan_v2 package is a ROS integration driver for the PSENscan safety laser scanner product. It lets you integrate the laser scanner data into your ROS Environment easily. Using the standard [sensor_msgs/LaserScan][] message format ensures compatibility with other laserscan-post-processing nodes such as [gmapping][]. For a general overview, link collection and tutorials we refer to the ROS wiki page.
Common features:
- Compliant and approved in accordance with:
- EN/IEC 61496-1: Type 3
- EN ISO 13849-1: PL d
- IEC 61508: SIL 2
- Opening angle: 275°
- Operating range: 3.0 or 5.5 m safety zone, 40 m warning zone
- Reaction time: 62 ms
- Protection type: IP65
- Dimensions (H x W x D) in mm: 152 x 102 x 112.5
The PSENscan firmware (3.1.x) is supported on the following models:
Light versions
| Type | Features | Order number | |———————–|————————————————————————–|————–| | PSEN sc L 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000012 | | PSEN sc L 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000013 |
Additional features: Muting, EDM, Override
Master versions
| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc M 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000016 | | PSEN sc M 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000017 | | PSEN sc M 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000019 | | PSEN sc ME 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000034 |
Additional features: Muting, EDM, Override, restart in accordance with EN ISO 61496-3, vertical applications
Subscriber versions
| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc S 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000020 | | PSEN sc S 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000021 |
Additional features: reference marks, vertical applications
C++ standalone library
If you are interested in using the PSENscan safety laser scanner without ROS, please take a look at our C++ standalone library. You can read more about it in the standalone folder.
Table of Contents
Installation
Needed Equipment:
- PSENscan safety laser scanner
- ROS Machine
To use the package, you can install prebuilt packages with
sudo apt install ros-$ROS_DISTRO-psen-scan-v2
Usage
This package is capable to read data from 1 Master safety laser scanner, and up to 3 Subscribers safety laser scanners, as shown below:
To read data and publishing scans from 1 safety laser scanner (Master, Light), execute in a command line:
```bash roslaunch psen_scan_v2 psen_scan_v2.launch sensor_ip:=192.168.0.10
File truncated at 100 lines see the full file
Changelog for package psen_scan_v2
Forthcoming
- Add PSENscan Subscribers up to 3 (#338)
- Add PSENscan cad meshes (#338)
- Contributors: Pilz GmbH and Co. KG
0.10.2 (2022-11-03)
- Remove zoneset bits from IOState.input field since its redundant to the active_zoneset field (#311)
- Inform about missing configuration confirmation
- Ignore changes of unused IOs. Fix #321
- Fill "io_states" vector as received instead of order by theta to avoid flickering. Fix #320
- Fixed bug of multiple zonesets being visible #328
- Contributors: Pilz GmbH and Co. KG
0.10.1 (2022-01-24)
- Separate 'PinState' formating from 'formatRange' (#313)
- Contributors: Pilz GmbH and Co. KG
0.10.0 (2022-01-20)
- Change to new versioning method for ROS1 (0.10.0+) and ROS2 (0.20.0+).
- Deprecate get/set methods with 'get/set' prefix in favour of methods without the prefix(#298)
- ADD IO states to LaserScan and publish them at ~/io_state (#281)
- Renaming Slave to Subscriber (#303)
- Contributors: Pilz GmbH and Co. KG
0.3.4 (2021-12-20)
- Prevent error when diagnostics are disabled. Fix #294
- Set exception in stop-future
- Apply clang-tidy fixes to header-files. Fix #277
- Remove latched flag from active zoneset topic
- API change: convenience usage of ScannerConfiguration
- Remove unrelated parameter DEFAULT_X_AXIS_ROTATION from standalone
- Contributors: Pilz GmbH and Co. KG
0.3.3 (2021-11-10)
- Introduce error state and set exception in start-future
- Remove dependency on pilz_testutils
- Always build hardware tests
- Internal refactorings
- Importing the config xml-file and publishing the zoneconfiguration
- Add active zoneset to LaserScan
- Publish active zoneset id to ~/active_zoneset
- Add active zoneset visualization in rviz
- Contributors: Pilz GmbH and Co. KG
0.3.2 (2021-09-16)
-
- Improve performance of standalone part
-
- Introduce RawDataPtr
- Write to std::stringstream instead of constructing from std::string
- Pass by reference wherever possible
-
Make release build the default
-
Calculate timestamp as the time of the first ray (udp communication time is neglected)
-
API: Add timestamp (nanoseconds since epoch) to LaserScan
-
API: Add scan counter to LaserScan
-
API: remove LaserScan equality operator
- Contributors: Pilz GmbH and Co. KG
0.3.1 (2021-07-21)
- Rename urdf links
- Apply tf prefix equals node name
- API change: rename launch-file argument prefix->tf_prefix
- Contributors: Pilz GmbH and Co. KG
0.3.0 (2021-06-29)
- Set prefix for node name (same value as for tf frames)
- Introduce bringup.launch for starting only the scanner node
- Omit closing the data client before destruction. Fixes #212
- Distance value at angle_end is now included in the scan range
- Default scan range changed to [-137.4..137.4]deg at 0.1 deg resolution
- Add options for modifying resolution and enabling intensities
- Add launchfile option for disabling rviz at startup (default: enable)
- Handle the infinity codes from the scanner correctly
- Inform user about current scan range
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bringup.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
- sensor_ip [default: 192.168.0.10]
- nr_subscribers [default: 0]
- tf_prefix [default: laser_1]
- angle_start [default: $(eval radians(-137.4))]
- angle_end [default: $(eval radians(137.4))]
- intensities [default: false]
- resolution [default: $(eval radians(0.5))]
- host_ip [default: auto]
- host_udp_port_data [default: 55115]
- host_udp_port_control [default: 55116]
- fragmented_scans [default: false]
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
- launch/psen_scan_v2.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
- sensor_ip [default: 192.168.0.10]
- nr_subscribers [default: 0]
- tf_prefix [default: laser_1]
- tf_prefix_sub0 [default: laser_1_Subscriber0]
- tf_prefix_sub1 [default: laser_1_Subscriber1]
- tf_prefix_sub2 [default: laser_1_Subscriber2]
- angle_start [default: $(eval radians(-137.4))]
- angle_end [default: $(eval radians(137.4))]
- intensities [default: false]
- resolution [default: $(eval radians(0.5))]
- host_ip [default: auto]
- host_udp_port_data [default: 55115]
- host_udp_port_control [default: 55116]
- fragmented_scans [default: false]
- config_file [default: ]
- rviz [default: true]
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
- test/acceptance_tests/acceptancetest_multiple_zones_display.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
Messages
Services
Plugins
Recent questions tagged psen_scan_v2 at Robotics Stack Exchange
|
|
psen_scan_v2 package from psen_scan_v2 repopsen_scan_v2 |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.10.2 |
| License | LGPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | The psen_scan_v2 package is a ROS integration of the PSENscan safety laser scanner product. |
| Checkout URI | https://github.com/PilzDE/psen_scan_v2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-06-21 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Christian Döhn
- Immanuel Martini
- Richard Feistenauer
Authors
- Pilz GmbH + Co. KG
PILZ safety laser scanner PSENscan
Package: psen_scan_v2
The psen_scan_v2 package is a ROS integration driver for the PSENscan safety laser scanner product. It lets you integrate the laser scanner data into your ROS Environment easily. Using the standard [sensor_msgs/LaserScan][] message format ensures compatibility with other laserscan-post-processing nodes such as [gmapping][]. For a general overview, link collection and tutorials we refer to the ROS wiki page.
Common features:
- Compliant and approved in accordance with:
- EN/IEC 61496-1: Type 3
- EN ISO 13849-1: PL d
- IEC 61508: SIL 2
- Opening angle: 275°
- Operating range: 3.0 or 5.5 m safety zone, 40 m warning zone
- Reaction time: 62 ms
- Protection type: IP65
- Dimensions (H x W x D) in mm: 152 x 102 x 112.5
The PSENscan firmware (3.1.x) is supported on the following models:
Light versions
| Type | Features | Order number | |———————–|————————————————————————–|————–| | PSEN sc L 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000012 | | PSEN sc L 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000013 |
Additional features: Muting, EDM, Override
Master versions
| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc M 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000016 | | PSEN sc M 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000017 | | PSEN sc M 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000019 | | PSEN sc ME 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000034 |
Additional features: Muting, EDM, Override, restart in accordance with EN ISO 61496-3, vertical applications
Subscriber versions
| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc S 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000020 | | PSEN sc S 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000021 |
Additional features: reference marks, vertical applications
C++ standalone library
If you are interested in using the PSENscan safety laser scanner without ROS, please take a look at our C++ standalone library. You can read more about it in the standalone folder.
Table of Contents
Installation
Needed Equipment:
- PSENscan safety laser scanner
- ROS Machine
To use the package, you can install prebuilt packages with
sudo apt install ros-$ROS_DISTRO-psen-scan-v2
Usage
This package is capable to read data from 1 Master safety laser scanner, and up to 3 Subscribers safety laser scanners, as shown below:
To read data and publishing scans from 1 safety laser scanner (Master, Light), execute in a command line:
```bash roslaunch psen_scan_v2 psen_scan_v2.launch sensor_ip:=192.168.0.10
File truncated at 100 lines see the full file
Changelog for package psen_scan_v2
Forthcoming
- Add PSENscan Subscribers up to 3 (#338)
- Add PSENscan cad meshes (#338)
- Contributors: Pilz GmbH and Co. KG
0.10.2 (2022-11-03)
- Remove zoneset bits from IOState.input field since its redundant to the active_zoneset field (#311)
- Inform about missing configuration confirmation
- Ignore changes of unused IOs. Fix #321
- Fill "io_states" vector as received instead of order by theta to avoid flickering. Fix #320
- Fixed bug of multiple zonesets being visible #328
- Contributors: Pilz GmbH and Co. KG
0.10.1 (2022-01-24)
- Separate 'PinState' formating from 'formatRange' (#313)
- Contributors: Pilz GmbH and Co. KG
0.10.0 (2022-01-20)
- Change to new versioning method for ROS1 (0.10.0+) and ROS2 (0.20.0+).
- Deprecate get/set methods with 'get/set' prefix in favour of methods without the prefix(#298)
- ADD IO states to LaserScan and publish them at ~/io_state (#281)
- Renaming Slave to Subscriber (#303)
- Contributors: Pilz GmbH and Co. KG
0.3.4 (2021-12-20)
- Prevent error when diagnostics are disabled. Fix #294
- Set exception in stop-future
- Apply clang-tidy fixes to header-files. Fix #277
- Remove latched flag from active zoneset topic
- API change: convenience usage of ScannerConfiguration
- Remove unrelated parameter DEFAULT_X_AXIS_ROTATION from standalone
- Contributors: Pilz GmbH and Co. KG
0.3.3 (2021-11-10)
- Introduce error state and set exception in start-future
- Remove dependency on pilz_testutils
- Always build hardware tests
- Internal refactorings
- Importing the config xml-file and publishing the zoneconfiguration
- Add active zoneset to LaserScan
- Publish active zoneset id to ~/active_zoneset
- Add active zoneset visualization in rviz
- Contributors: Pilz GmbH and Co. KG
0.3.2 (2021-09-16)
-
- Improve performance of standalone part
-
- Introduce RawDataPtr
- Write to std::stringstream instead of constructing from std::string
- Pass by reference wherever possible
-
Make release build the default
-
Calculate timestamp as the time of the first ray (udp communication time is neglected)
-
API: Add timestamp (nanoseconds since epoch) to LaserScan
-
API: Add scan counter to LaserScan
-
API: remove LaserScan equality operator
- Contributors: Pilz GmbH and Co. KG
0.3.1 (2021-07-21)
- Rename urdf links
- Apply tf prefix equals node name
- API change: rename launch-file argument prefix->tf_prefix
- Contributors: Pilz GmbH and Co. KG
0.3.0 (2021-06-29)
- Set prefix for node name (same value as for tf frames)
- Introduce bringup.launch for starting only the scanner node
- Omit closing the data client before destruction. Fixes #212
- Distance value at angle_end is now included in the scan range
- Default scan range changed to [-137.4..137.4]deg at 0.1 deg resolution
- Add options for modifying resolution and enabling intensities
- Add launchfile option for disabling rviz at startup (default: enable)
- Handle the infinity codes from the scanner correctly
- Inform user about current scan range
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bringup.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
- sensor_ip [default: 192.168.0.10]
- nr_subscribers [default: 0]
- tf_prefix [default: laser_1]
- angle_start [default: $(eval radians(-137.4))]
- angle_end [default: $(eval radians(137.4))]
- intensities [default: false]
- resolution [default: $(eval radians(0.5))]
- host_ip [default: auto]
- host_udp_port_data [default: 55115]
- host_udp_port_control [default: 55116]
- fragmented_scans [default: false]
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
- launch/psen_scan_v2.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
- sensor_ip [default: 192.168.0.10]
- nr_subscribers [default: 0]
- tf_prefix [default: laser_1]
- tf_prefix_sub0 [default: laser_1_Subscriber0]
- tf_prefix_sub1 [default: laser_1_Subscriber1]
- tf_prefix_sub2 [default: laser_1_Subscriber2]
- angle_start [default: $(eval radians(-137.4))]
- angle_end [default: $(eval radians(137.4))]
- intensities [default: false]
- resolution [default: $(eval radians(0.5))]
- host_ip [default: auto]
- host_udp_port_data [default: 55115]
- host_udp_port_control [default: 55116]
- fragmented_scans [default: false]
- config_file [default: ]
- rviz [default: true]
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
- test/acceptance_tests/acceptancetest_multiple_zones_display.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
Messages
Services
Plugins
Recent questions tagged psen_scan_v2 at Robotics Stack Exchange
|
|
psen_scan_v2 package from psen_scan_v2 repopsen_scan_v2 |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.10.2 |
| License | LGPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | The psen_scan_v2 package is a ROS integration of the PSENscan safety laser scanner product. |
| Checkout URI | https://github.com/PilzDE/psen_scan_v2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-06-21 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Christian Döhn
- Immanuel Martini
- Richard Feistenauer
Authors
- Pilz GmbH + Co. KG
PILZ safety laser scanner PSENscan
Package: psen_scan_v2
The psen_scan_v2 package is a ROS integration driver for the PSENscan safety laser scanner product. It lets you integrate the laser scanner data into your ROS Environment easily. Using the standard [sensor_msgs/LaserScan][] message format ensures compatibility with other laserscan-post-processing nodes such as [gmapping][]. For a general overview, link collection and tutorials we refer to the ROS wiki page.
Common features:
- Compliant and approved in accordance with:
- EN/IEC 61496-1: Type 3
- EN ISO 13849-1: PL d
- IEC 61508: SIL 2
- Opening angle: 275°
- Operating range: 3.0 or 5.5 m safety zone, 40 m warning zone
- Reaction time: 62 ms
- Protection type: IP65
- Dimensions (H x W x D) in mm: 152 x 102 x 112.5
The PSENscan firmware (3.1.x) is supported on the following models:
Light versions
| Type | Features | Order number | |———————–|————————————————————————–|————–| | PSEN sc L 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000012 | | PSEN sc L 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000013 |
Additional features: Muting, EDM, Override
Master versions
| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc M 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000016 | | PSEN sc M 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000017 | | PSEN sc M 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000019 | | PSEN sc ME 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000034 |
Additional features: Muting, EDM, Override, restart in accordance with EN ISO 61496-3, vertical applications
Subscriber versions
| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc S 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000020 | | PSEN sc S 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000021 |
Additional features: reference marks, vertical applications
C++ standalone library
If you are interested in using the PSENscan safety laser scanner without ROS, please take a look at our C++ standalone library. You can read more about it in the standalone folder.
Table of Contents
Installation
Needed Equipment:
- PSENscan safety laser scanner
- ROS Machine
To use the package, you can install prebuilt packages with
sudo apt install ros-$ROS_DISTRO-psen-scan-v2
Usage
This package is capable to read data from 1 Master safety laser scanner, and up to 3 Subscribers safety laser scanners, as shown below:
To read data and publishing scans from 1 safety laser scanner (Master, Light), execute in a command line:
```bash roslaunch psen_scan_v2 psen_scan_v2.launch sensor_ip:=192.168.0.10
File truncated at 100 lines see the full file
Changelog for package psen_scan_v2
Forthcoming
- Add PSENscan Subscribers up to 3 (#338)
- Add PSENscan cad meshes (#338)
- Contributors: Pilz GmbH and Co. KG
0.10.2 (2022-11-03)
- Remove zoneset bits from IOState.input field since its redundant to the active_zoneset field (#311)
- Inform about missing configuration confirmation
- Ignore changes of unused IOs. Fix #321
- Fill "io_states" vector as received instead of order by theta to avoid flickering. Fix #320
- Fixed bug of multiple zonesets being visible #328
- Contributors: Pilz GmbH and Co. KG
0.10.1 (2022-01-24)
- Separate 'PinState' formating from 'formatRange' (#313)
- Contributors: Pilz GmbH and Co. KG
0.10.0 (2022-01-20)
- Change to new versioning method for ROS1 (0.10.0+) and ROS2 (0.20.0+).
- Deprecate get/set methods with 'get/set' prefix in favour of methods without the prefix(#298)
- ADD IO states to LaserScan and publish them at ~/io_state (#281)
- Renaming Slave to Subscriber (#303)
- Contributors: Pilz GmbH and Co. KG
0.3.4 (2021-12-20)
- Prevent error when diagnostics are disabled. Fix #294
- Set exception in stop-future
- Apply clang-tidy fixes to header-files. Fix #277
- Remove latched flag from active zoneset topic
- API change: convenience usage of ScannerConfiguration
- Remove unrelated parameter DEFAULT_X_AXIS_ROTATION from standalone
- Contributors: Pilz GmbH and Co. KG
0.3.3 (2021-11-10)
- Introduce error state and set exception in start-future
- Remove dependency on pilz_testutils
- Always build hardware tests
- Internal refactorings
- Importing the config xml-file and publishing the zoneconfiguration
- Add active zoneset to LaserScan
- Publish active zoneset id to ~/active_zoneset
- Add active zoneset visualization in rviz
- Contributors: Pilz GmbH and Co. KG
0.3.2 (2021-09-16)
-
- Improve performance of standalone part
-
- Introduce RawDataPtr
- Write to std::stringstream instead of constructing from std::string
- Pass by reference wherever possible
-
Make release build the default
-
Calculate timestamp as the time of the first ray (udp communication time is neglected)
-
API: Add timestamp (nanoseconds since epoch) to LaserScan
-
API: Add scan counter to LaserScan
-
API: remove LaserScan equality operator
- Contributors: Pilz GmbH and Co. KG
0.3.1 (2021-07-21)
- Rename urdf links
- Apply tf prefix equals node name
- API change: rename launch-file argument prefix->tf_prefix
- Contributors: Pilz GmbH and Co. KG
0.3.0 (2021-06-29)
- Set prefix for node name (same value as for tf frames)
- Introduce bringup.launch for starting only the scanner node
- Omit closing the data client before destruction. Fixes #212
- Distance value at angle_end is now included in the scan range
- Default scan range changed to [-137.4..137.4]deg at 0.1 deg resolution
- Add options for modifying resolution and enabling intensities
- Add launchfile option for disabling rviz at startup (default: enable)
- Handle the infinity codes from the scanner correctly
- Inform user about current scan range
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bringup.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
- sensor_ip [default: 192.168.0.10]
- nr_subscribers [default: 0]
- tf_prefix [default: laser_1]
- angle_start [default: $(eval radians(-137.4))]
- angle_end [default: $(eval radians(137.4))]
- intensities [default: false]
- resolution [default: $(eval radians(0.5))]
- host_ip [default: auto]
- host_udp_port_data [default: 55115]
- host_udp_port_control [default: 55116]
- fragmented_scans [default: false]
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
- launch/psen_scan_v2.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
- sensor_ip [default: 192.168.0.10]
- nr_subscribers [default: 0]
- tf_prefix [default: laser_1]
- tf_prefix_sub0 [default: laser_1_Subscriber0]
- tf_prefix_sub1 [default: laser_1_Subscriber1]
- tf_prefix_sub2 [default: laser_1_Subscriber2]
- angle_start [default: $(eval radians(-137.4))]
- angle_end [default: $(eval radians(137.4))]
- intensities [default: false]
- resolution [default: $(eval radians(0.5))]
- host_ip [default: auto]
- host_udp_port_data [default: 55115]
- host_udp_port_control [default: 55116]
- fragmented_scans [default: false]
- config_file [default: ]
- rviz [default: true]
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
- test/acceptance_tests/acceptancetest_multiple_zones_display.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
Messages
Services
Plugins
Recent questions tagged psen_scan_v2 at Robotics Stack Exchange
|
|
psen_scan_v2 package from psen_scan_v2 repopsen_scan_v2 |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.10.2 |
| License | LGPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | The psen_scan_v2 package is a ROS integration of the PSENscan safety laser scanner product. |
| Checkout URI | https://github.com/PilzDE/psen_scan_v2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-06-21 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Christian Döhn
- Immanuel Martini
- Richard Feistenauer
Authors
- Pilz GmbH + Co. KG
PILZ safety laser scanner PSENscan
Package: psen_scan_v2
The psen_scan_v2 package is a ROS integration driver for the PSENscan safety laser scanner product. It lets you integrate the laser scanner data into your ROS Environment easily. Using the standard [sensor_msgs/LaserScan][] message format ensures compatibility with other laserscan-post-processing nodes such as [gmapping][]. For a general overview, link collection and tutorials we refer to the ROS wiki page.
Common features:
- Compliant and approved in accordance with:
- EN/IEC 61496-1: Type 3
- EN ISO 13849-1: PL d
- IEC 61508: SIL 2
- Opening angle: 275°
- Operating range: 3.0 or 5.5 m safety zone, 40 m warning zone
- Reaction time: 62 ms
- Protection type: IP65
- Dimensions (H x W x D) in mm: 152 x 102 x 112.5
The PSENscan firmware (3.1.x) is supported on the following models:
Light versions
| Type | Features | Order number | |———————–|————————————————————————–|————–| | PSEN sc L 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000012 | | PSEN sc L 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000013 |
Additional features: Muting, EDM, Override
Master versions
| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc M 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000016 | | PSEN sc M 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000017 | | PSEN sc M 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000019 | | PSEN sc ME 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000034 |
Additional features: Muting, EDM, Override, restart in accordance with EN ISO 61496-3, vertical applications
Subscriber versions
| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc S 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000020 | | PSEN sc S 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000021 |
Additional features: reference marks, vertical applications
C++ standalone library
If you are interested in using the PSENscan safety laser scanner without ROS, please take a look at our C++ standalone library. You can read more about it in the standalone folder.
Table of Contents
Installation
Needed Equipment:
- PSENscan safety laser scanner
- ROS Machine
To use the package, you can install prebuilt packages with
sudo apt install ros-$ROS_DISTRO-psen-scan-v2
Usage
This package is capable to read data from 1 Master safety laser scanner, and up to 3 Subscribers safety laser scanners, as shown below:
To read data and publishing scans from 1 safety laser scanner (Master, Light), execute in a command line:
```bash roslaunch psen_scan_v2 psen_scan_v2.launch sensor_ip:=192.168.0.10
File truncated at 100 lines see the full file
Changelog for package psen_scan_v2
Forthcoming
- Add PSENscan Subscribers up to 3 (#338)
- Add PSENscan cad meshes (#338)
- Contributors: Pilz GmbH and Co. KG
0.10.2 (2022-11-03)
- Remove zoneset bits from IOState.input field since its redundant to the active_zoneset field (#311)
- Inform about missing configuration confirmation
- Ignore changes of unused IOs. Fix #321
- Fill "io_states" vector as received instead of order by theta to avoid flickering. Fix #320
- Fixed bug of multiple zonesets being visible #328
- Contributors: Pilz GmbH and Co. KG
0.10.1 (2022-01-24)
- Separate 'PinState' formating from 'formatRange' (#313)
- Contributors: Pilz GmbH and Co. KG
0.10.0 (2022-01-20)
- Change to new versioning method for ROS1 (0.10.0+) and ROS2 (0.20.0+).
- Deprecate get/set methods with 'get/set' prefix in favour of methods without the prefix(#298)
- ADD IO states to LaserScan and publish them at ~/io_state (#281)
- Renaming Slave to Subscriber (#303)
- Contributors: Pilz GmbH and Co. KG
0.3.4 (2021-12-20)
- Prevent error when diagnostics are disabled. Fix #294
- Set exception in stop-future
- Apply clang-tidy fixes to header-files. Fix #277
- Remove latched flag from active zoneset topic
- API change: convenience usage of ScannerConfiguration
- Remove unrelated parameter DEFAULT_X_AXIS_ROTATION from standalone
- Contributors: Pilz GmbH and Co. KG
0.3.3 (2021-11-10)
- Introduce error state and set exception in start-future
- Remove dependency on pilz_testutils
- Always build hardware tests
- Internal refactorings
- Importing the config xml-file and publishing the zoneconfiguration
- Add active zoneset to LaserScan
- Publish active zoneset id to ~/active_zoneset
- Add active zoneset visualization in rviz
- Contributors: Pilz GmbH and Co. KG
0.3.2 (2021-09-16)
-
- Improve performance of standalone part
-
- Introduce RawDataPtr
- Write to std::stringstream instead of constructing from std::string
- Pass by reference wherever possible
-
Make release build the default
-
Calculate timestamp as the time of the first ray (udp communication time is neglected)
-
API: Add timestamp (nanoseconds since epoch) to LaserScan
-
API: Add scan counter to LaserScan
-
API: remove LaserScan equality operator
- Contributors: Pilz GmbH and Co. KG
0.3.1 (2021-07-21)
- Rename urdf links
- Apply tf prefix equals node name
- API change: rename launch-file argument prefix->tf_prefix
- Contributors: Pilz GmbH and Co. KG
0.3.0 (2021-06-29)
- Set prefix for node name (same value as for tf frames)
- Introduce bringup.launch for starting only the scanner node
- Omit closing the data client before destruction. Fixes #212
- Distance value at angle_end is now included in the scan range
- Default scan range changed to [-137.4..137.4]deg at 0.1 deg resolution
- Add options for modifying resolution and enabling intensities
- Add launchfile option for disabling rviz at startup (default: enable)
- Handle the infinity codes from the scanner correctly
- Inform user about current scan range
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bringup.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
- sensor_ip [default: 192.168.0.10]
- nr_subscribers [default: 0]
- tf_prefix [default: laser_1]
- angle_start [default: $(eval radians(-137.4))]
- angle_end [default: $(eval radians(137.4))]
- intensities [default: false]
- resolution [default: $(eval radians(0.5))]
- host_ip [default: auto]
- host_udp_port_data [default: 55115]
- host_udp_port_control [default: 55116]
- fragmented_scans [default: false]
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
- launch/psen_scan_v2.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
- sensor_ip [default: 192.168.0.10]
- nr_subscribers [default: 0]
- tf_prefix [default: laser_1]
- tf_prefix_sub0 [default: laser_1_Subscriber0]
- tf_prefix_sub1 [default: laser_1_Subscriber1]
- tf_prefix_sub2 [default: laser_1_Subscriber2]
- angle_start [default: $(eval radians(-137.4))]
- angle_end [default: $(eval radians(137.4))]
- intensities [default: false]
- resolution [default: $(eval radians(0.5))]
- host_ip [default: auto]
- host_udp_port_data [default: 55115]
- host_udp_port_control [default: 55116]
- fragmented_scans [default: false]
- config_file [default: ]
- rviz [default: true]
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
- test/acceptance_tests/acceptancetest_multiple_zones_display.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
Messages
Services
Plugins
Recent questions tagged psen_scan_v2 at Robotics Stack Exchange
|
|
psen_scan_v2 package from psen_scan_v2 repopsen_scan_v2 |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.10.2 |
| License | LGPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | The psen_scan_v2 package is a ROS integration of the PSENscan safety laser scanner product. |
| Checkout URI | https://github.com/PilzDE/psen_scan_v2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-06-21 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Christian Döhn
- Immanuel Martini
- Richard Feistenauer
Authors
- Pilz GmbH + Co. KG
PILZ safety laser scanner PSENscan
Package: psen_scan_v2
The psen_scan_v2 package is a ROS integration driver for the PSENscan safety laser scanner product. It lets you integrate the laser scanner data into your ROS Environment easily. Using the standard [sensor_msgs/LaserScan][] message format ensures compatibility with other laserscan-post-processing nodes such as [gmapping][]. For a general overview, link collection and tutorials we refer to the ROS wiki page.
Common features:
- Compliant and approved in accordance with:
- EN/IEC 61496-1: Type 3
- EN ISO 13849-1: PL d
- IEC 61508: SIL 2
- Opening angle: 275°
- Operating range: 3.0 or 5.5 m safety zone, 40 m warning zone
- Reaction time: 62 ms
- Protection type: IP65
- Dimensions (H x W x D) in mm: 152 x 102 x 112.5
The PSENscan firmware (3.1.x) is supported on the following models:
Light versions
| Type | Features | Order number | |———————–|————————————————————————–|————–| | PSEN sc L 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000012 | | PSEN sc L 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000013 |
Additional features: Muting, EDM, Override
Master versions
| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc M 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000016 | | PSEN sc M 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000017 | | PSEN sc M 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000019 | | PSEN sc ME 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000034 |
Additional features: Muting, EDM, Override, restart in accordance with EN ISO 61496-3, vertical applications
Subscriber versions
| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc S 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000020 | | PSEN sc S 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000021 |
Additional features: reference marks, vertical applications
C++ standalone library
If you are interested in using the PSENscan safety laser scanner without ROS, please take a look at our C++ standalone library. You can read more about it in the standalone folder.
Table of Contents
Installation
Needed Equipment:
- PSENscan safety laser scanner
- ROS Machine
To use the package, you can install prebuilt packages with
sudo apt install ros-$ROS_DISTRO-psen-scan-v2
Usage
This package is capable to read data from 1 Master safety laser scanner, and up to 3 Subscribers safety laser scanners, as shown below:
To read data and publishing scans from 1 safety laser scanner (Master, Light), execute in a command line:
```bash roslaunch psen_scan_v2 psen_scan_v2.launch sensor_ip:=192.168.0.10
File truncated at 100 lines see the full file
Changelog for package psen_scan_v2
Forthcoming
- Add PSENscan Subscribers up to 3 (#338)
- Add PSENscan cad meshes (#338)
- Contributors: Pilz GmbH and Co. KG
0.10.2 (2022-11-03)
- Remove zoneset bits from IOState.input field since its redundant to the active_zoneset field (#311)
- Inform about missing configuration confirmation
- Ignore changes of unused IOs. Fix #321
- Fill "io_states" vector as received instead of order by theta to avoid flickering. Fix #320
- Fixed bug of multiple zonesets being visible #328
- Contributors: Pilz GmbH and Co. KG
0.10.1 (2022-01-24)
- Separate 'PinState' formating from 'formatRange' (#313)
- Contributors: Pilz GmbH and Co. KG
0.10.0 (2022-01-20)
- Change to new versioning method for ROS1 (0.10.0+) and ROS2 (0.20.0+).
- Deprecate get/set methods with 'get/set' prefix in favour of methods without the prefix(#298)
- ADD IO states to LaserScan and publish them at ~/io_state (#281)
- Renaming Slave to Subscriber (#303)
- Contributors: Pilz GmbH and Co. KG
0.3.4 (2021-12-20)
- Prevent error when diagnostics are disabled. Fix #294
- Set exception in stop-future
- Apply clang-tidy fixes to header-files. Fix #277
- Remove latched flag from active zoneset topic
- API change: convenience usage of ScannerConfiguration
- Remove unrelated parameter DEFAULT_X_AXIS_ROTATION from standalone
- Contributors: Pilz GmbH and Co. KG
0.3.3 (2021-11-10)
- Introduce error state and set exception in start-future
- Remove dependency on pilz_testutils
- Always build hardware tests
- Internal refactorings
- Importing the config xml-file and publishing the zoneconfiguration
- Add active zoneset to LaserScan
- Publish active zoneset id to ~/active_zoneset
- Add active zoneset visualization in rviz
- Contributors: Pilz GmbH and Co. KG
0.3.2 (2021-09-16)
-
- Improve performance of standalone part
-
- Introduce RawDataPtr
- Write to std::stringstream instead of constructing from std::string
- Pass by reference wherever possible
-
Make release build the default
-
Calculate timestamp as the time of the first ray (udp communication time is neglected)
-
API: Add timestamp (nanoseconds since epoch) to LaserScan
-
API: Add scan counter to LaserScan
-
API: remove LaserScan equality operator
- Contributors: Pilz GmbH and Co. KG
0.3.1 (2021-07-21)
- Rename urdf links
- Apply tf prefix equals node name
- API change: rename launch-file argument prefix->tf_prefix
- Contributors: Pilz GmbH and Co. KG
0.3.0 (2021-06-29)
- Set prefix for node name (same value as for tf frames)
- Introduce bringup.launch for starting only the scanner node
- Omit closing the data client before destruction. Fixes #212
- Distance value at angle_end is now included in the scan range
- Default scan range changed to [-137.4..137.4]deg at 0.1 deg resolution
- Add options for modifying resolution and enabling intensities
- Add launchfile option for disabling rviz at startup (default: enable)
- Handle the infinity codes from the scanner correctly
- Inform user about current scan range
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bringup.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
- sensor_ip [default: 192.168.0.10]
- nr_subscribers [default: 0]
- tf_prefix [default: laser_1]
- angle_start [default: $(eval radians(-137.4))]
- angle_end [default: $(eval radians(137.4))]
- intensities [default: false]
- resolution [default: $(eval radians(0.5))]
- host_ip [default: auto]
- host_udp_port_data [default: 55115]
- host_udp_port_control [default: 55116]
- fragmented_scans [default: false]
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
- launch/psen_scan_v2.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
- sensor_ip [default: 192.168.0.10]
- nr_subscribers [default: 0]
- tf_prefix [default: laser_1]
- tf_prefix_sub0 [default: laser_1_Subscriber0]
- tf_prefix_sub1 [default: laser_1_Subscriber1]
- tf_prefix_sub2 [default: laser_1_Subscriber2]
- angle_start [default: $(eval radians(-137.4))]
- angle_end [default: $(eval radians(137.4))]
- intensities [default: false]
- resolution [default: $(eval radians(0.5))]
- host_ip [default: auto]
- host_udp_port_data [default: 55115]
- host_udp_port_control [default: 55116]
- fragmented_scans [default: false]
- config_file [default: ]
- rviz [default: true]
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
- test/acceptance_tests/acceptancetest_multiple_zones_display.launch
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see
-
-
Copyright (c) 2020-2021 Pilz GmbH & Co. KG
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see