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lidarlib_ros: ROS2 bridge for liblidarlib (GS1-5 LaserScan)

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Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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QUYVN
2026-07-03 09:38:40 +07:00
commit 40eed662b3
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config/lidar.yaml Normal file
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lidarlib_node:
ros__parameters:
# Danh sach lidar chay cung luc. Them/bot ten tuy y; moi ten co 1 block rieng ben duoi.
lidars: ["tim7", "nano", "gs15", "1f"]
gs15:
brand: "OLEI" # "OLEI" = UDP | "SICK" = TCP/SOPAS
model: "AUTO" # OLEI: AUTO/VB/VF/LR-1F/LR-1BS5/LR-16F/GS1-5 ; SICK: SICK-TIM5XX/SICK-TIM571/SICK-TIM7XX
ip: "0.0.0.0" # OLEI: dia chi bind cua host (thuong 0.0.0.0) ; SICK: IP cua lidar
port: 2368 # OLEI 2368/2369 ; SICK 2111
inverted: false # true neu lidar lap up nguoc (OLEI: thu vien xu ly; brand khac: node dao chieu)
topic: "scan_front" # topic publish (mac dinh: scan_<ten>)
frame_id: "front" # frame TF (mac dinh: <ten>)
timeout_ms: 1000
range_min: 0.0
range_max: 0.0
angle_min_deg: -360.0
angle_max_deg: 360.0
1f:
brand: "OLEI"
model: "AUTO"
ip: "0.0.0.0"
port: 2371
inverted: true
topic: "scan_rear"
frame_id: "rear"
timeout_ms: 1000
range_min: 0.0 # met; 0.0 = tat (dung gia tri thiet bi bao)
range_max: 0.0
angle_min_deg: -360.0 # do; +/-360 = tat (giu nguyen goc thiet bi)
angle_max_deg: 360.0
tim7:
brand: "SICK"
model: "SICK-TIM5XX"
ip: "192.168.100.22"
port: 2111
inverted: false # true neu lap up nguoc (node dao chieu scan)
topic: "scan_sick1"
frame_id: "sick1"
timeout_ms: 1000
range_min: 0.0 # met; 0.0 = tat (dung gia tri thiet bi bao)
range_max: 0.0
angle_min_deg: -360.0
angle_max_deg: 360.0
nano:
brand: "SICK"
model: "SICK-nanoScan3"
ip: "0.0.0.0"
port: 6061
inverted: false # true neu lap up nguoc (node dao chieu scan)
topic: "scan_front"
frame_id: "front"
timeout_ms: 1000
range_min: 0.0 # met; 0.0 = tat (dung gia tri thiet bi bao)
range_max: 0.0
angle_min_deg: -360.0 # do; +/-360 = tat (giu nguyen goc thiet bi)
angle_max_deg: 360.0