precaster_rps800 (indigo) - 0.1.1-0

The packages in the precaster_rps800 repository were released into the indigo distro by running /usr/local/bin/bloom-release --rosdistro indigo --track indigo precaster_rps800 on Thu, 22 Dec 2016 15:06:37 -0000

The precaster_rangefinder_rps800 package was released.

Version of package(s) in repository precaster_rps800:

• upstream repository: https://github.com/erlerobot/precaster_RPS800
• release repository: unknown
• rosdistro version: null
• old version: null
• new version: 0.1.1-0

Versions of tools used:

• bloom version: 0.5.23

• catkin_pkg version: 0.2.10

• rosdep version: 0.11.5

• rosdistro version: 0.5.0

• vcstools version: 0.1.39

• Precaster Rangefinder RPS800

• Features

• Applications

• Technical data

• Configuring precaster rangefinder rps800

• Compiling the code from sources

• Launching manually

• Starting a roscore

• Setting Parameters

• Running the precaster rangefinder rps800 node

• Launch file

Precaster rangefinder RPS800

RPS800 is designed as a compact and reliable laser distance measuring sensor. The pulse technology gives the good accuracy and response time in distance measuring and a stable output under the strong ambient light.

Features

• Highly Customizable module fit for most duties.
• Adjustable High Speed measuring up to 2000HZ.
• Digital output with UART.
• TOF Non-Contact Measuring Low Consumption Sensor.

Applications

• Robot Eyes Distance Measuring
• Positioning and monitor of objects
• Security Applications Movement Detections
• Level and elevator Measuring
• Drone Dodge Actions Control

Technical data

Model No.	CA113 Spec.	CA113 Tolerance
Maximun measuring range	6 meters	6.5m
Minimum Measuring Range	0.1 meters	0.05m
Repeatability Accuracy from 0.5m to 1m	±20 mm	Standard Deviation 2σ, Kodak White Board
Repeatability Accuracy from 1m to 5m	±40 mm
Repeatability Accuracy over 6m	±1% of measured distance
Measurement Time	2000 Hz
Unit	Millimeter
Power Source	6V	±0.2V
Power Consumption	0.25W
Laser Radiation	Class 1
Laser Wavelength	808nm
Operating Temperature Range	-5°C~40°C
Storage Temperature Range	-20°C~60°C
Serial Port Type	UART
Dimensions	61 x 21 x 18 mm
Weight	17.6g	±5g

Configuring precaster rangefinder rps800

Make sure that your node is able to access the data from the sensor

List the permissions of your serial port, for example in a Rpi2:

ls -l /dev/ttyAMA0

You will see something like to:

crw-rw-XX- 1 root dialout 204, 64 Dec 16 10:17 /dev/ttyAMA0

If XX is rw: the rangefinder is configured properly.

If XX is --: the rangefinder is not configured properly and you need to:

sudo chmod a+rw /dev/ttyAMA0

Compiling the code from sources

Clone this repository in a ROS workspace or create a new one

cd ~/ros_catkin_ws/src
git clone https://github.com/erlerobot/precaster_rangefinder

Now compile the code:

cd ~/ros_catkin_ws/
catkin_make_isolated --install --pkg precaster_rangefinder_rps800

Launching manually

Starting a roscore

A ros core must be running:

roscore

Setting Parameters

We need to make sure that we have the correct configurations loaded on the parameter server.

If your sensor is not at the default /dev/ttyAMA you have to indicate where it is below:

rosparam set /precaster_rangefinder_rps800/port /dev/ttyAMA0

The same idea with the baudrate:

rosparam set /precaster_rangefinder_rps800/baudrate 230400

Running the precaster rangefinder rps800 node

rosrun precaster_rangefinder_rps800 rps800

Launch file

roslaunch precaster_rangefinder_rps800 rps800.launch

If you need to modify some parameters just do it in the launch file.