ROS Wrapper for Senkylaser Skpro-30

Description

This is a package for using Senkylaser Skpro30 with ROS. The package is also suitable for Skpro60 and Skpro100.

Dependiencies

• ROS melodic/kinetic
• libmodbus
• FTDI TN_101 Linux (RS485 to USB)

Instruction

1. Install the RS485 to USB linux driver, most of the chips use FTDI, so you can refer to FTDI TN_101

2. Install the ROS. Ubuntu install of ROS Melodic

3. installl libmodbus

   Follow the instruction

4. Create a catkin workspace Unbuntu

   mkdir -p ~/catkin_ws/src
   cd ~/catkin_ws/src

5. Clone this respository into 'catkin_ws/src'

   git clone https://github.com/nkuhzx/senkylaser-skpro-ros.git
   cd ~/catkin_ws
   catkin_make

6. Connect your senkylaser and roslaunch (RS485->USB->Laptop)

   source devel/setup.bash
   roslaunch skpro30_laser lasernode.launch 

7. Then the topic is published on '/laser_node/sklaser' as sensor_msg::LaserScan

   source devel/setup.bash
   roslaunch skpro30_laser lasernode.launch 

F&Q

1. Q: How to connect Senkylaser to my computer?

   A: You need an adapter to convert RS485 to USB serial port.

2. Q: Cannot open /dev/ttyusb0 no such file or directory

   A: First check the properties of ttyusb0

   ll /dev/ttyUSB0

   Then

   sudo chmod 666 /dev/ttyUSB0

   It is valid only once, and the command needs to be executed again after unplugging the cable.

   or

   sudo usermod -aG dialout USERNAME

   USERNAME is your ubuntu username, this method is permanently valid.

3. How to check whether the device can communicate with serial port

   Use cutecom to open '/dev/ttyUSB0', and then power on the device. If you can see the baud rate, it means the connection is successful.

4. What are the contents of the published message?

   The measured distance is in the 'ranges' of the LaserScan message.

   We use 'intensities' to indicate error status.

Author

• Zhengxi Hu

Please raise an issue or send email to hzx@mail.nankai.edu.cn if there are any issues running the code.