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Supported Hardware

This driver should work with VSSP 1.0/1.1-compliant HOKUYO 3D-LIDARs.

ROS API

hokuyo3d

hokuyo3d is a driver for VSSP 1.0/1.1 (Volumetric Scanning Sensor Protocol) compliant Hokuyo 3D LIDARs.

Published Topics

~/hokuyo_cloud (sensor_msgs/PointCloud)

• Output of measured point cloud in PointCloud message type which contains all multi echos with intensity. Published on demand.

~/hokuyo_cloud2 (sensor_msgs/PointCloud2)

• Output of measured point cloud in PointCloud2 message type which contains all multi echos with intensity. Published on demand.

~/imu (sensor_msgs/Imu)

• Output of embedded 6D gyro and accelerometer data.

~/mag (sensor_msgs/MagneticField)

• Output of embedded 3D magnetic field vector.

Parameters

~ip (string, default: "192.168.0.10")

• IP address of the sensor.

~port (int, default: 10940)

• TCP Port of the sensor.

~interlace (int, default: 4)

• Interlace setting of laser scanning. One means no interlace.

~frame_id (string, default: "hokuyo3d")

• The TF frame ID in which point clouds will be returned.

~range_min (float, default: 0.0)

• Points within range_min are dropped. This parameter is useful to remove ghost points nearby for early development version of this 3D sensors.

~output_cycle (string, default: "field")

• Specifies timing of point cloud output. "frame": outputs for each interlace cycle (several fields), "field": one horizontal scan (tens of lines), "line": one vertical scan