The tf03_driver provides ROS interface for TF 03 range sensor produced by Benewake.

Node supports both serial and CAN interfaces. It also allows changing sensor configuration.

• sensor_interface

  Allow to choose communication between serial or CAN. Possible values [serial, can], default is serial

• serial_port

  Used when sensor_interface is set to serial. Serial port where sensor is connected, default value is /dev/ttyUSB0

• can_device

  Used when sensor_interface is set to can. CAN device where sensor is connected, default value is panther_can

• can_transmit_id

  Used when sensor_interface is set to can. Array of CAN IDs defining which sensors are used, default is array of one element with value 3 (HEX 0x03)

• sensor_frame

  Used when sensor_interface is set to can. Array of TF frame names for CAN IDs. It will be used only when Array size is equal to can_transmit_id, otherwise frame names will be created according to pattern: sensor_at_CAN_ID_{can_transmit_id}

• can_receive_id

  Used when sensor_interface is set to can. CAN ID which sensor is using to receive data, default value is 12291 (HEX 0x3003)

Below parameters are used to reconfigure the sensor, they are used once, then application exits. Node will start in continuous mode only when these parameters are set to default values. Default values means that they are not saved to sensor.

• print_version

  Print the sensor version, default value false

• set_transmit_can_id

  Set new CAN ID value used by sensor to transmit data, default value 0

• set_receive_can_id

  Set new CAN ID value used by sensor to receive data, default value 0

• set_output_format

  Set interface to publish measurements and accept new configuration commands. Possible values are [serial, can], default is empty

Driver publishes sensor measurements on topic according to pattern: /{node_name}/sensor/{sensor_frame} with message type sensor_msgs::Range. Node will create as many publishers as sesors defined in parameters. In serial mode, frame name is set to tf03_sensor.