Pepperl+Fuchs is a leading developer and manufacturer of electronic sensors and components for the global automation market. Continuous innovation, enduring quality, and steady growth have been the foundation of our success for more than 70 years. Pepperl-Fuchs KFD2-SD-EX1.48 Solenoid Driver NEW. 1PC Pepperl+Fuchs Fuchs barrier KFD0-SD2-Ex1.1045 New. Software packages facilitate configuration, parameterization and operation of several Pepperl+Fuchs products.PACTware TM is a manufacturer and fieldbus-independent configuraton tool based on a standardized interface and device-specific Device Type Managers, or DTMs for short. Pepperl+Fuchs is a leading developer and manufacturer of electronic sensors and components for the global automation market. Continuous innovation, enduring quality, and steady growth have been the foundation of our success for more than 70 years.
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The Pepperl+Fuchs R2000 laser range finder driver package
- Maintainer: Denis Dillenberger <denis.dillenberger AT gmail DOT com>
- Author: Denis Dillenberger <denis.dillenberger AT gmail DOT com>
- License: BSD
- Source: git https://github.com/dillenberger/pepperl_fuchs.git (branch: master)
The Pepperl+Fuchs R2000 laser range finder driver package
- Maintainer: Denis Dillenberger <denis.dillenberger AT gmail DOT com>
- Author: Denis Dillenberger <denis.dillenberger AT gmail DOT com>
- License: BSD
- Source: git https://github.com/dillenberger/pepperl_fuchs.git (branch: master)
Used by (1)
The Pepperl+Fuchs R2000 laser range finder driver package
- Maintainer status: maintained
- Maintainer: Denis Dillenberger <denis.dillenberger AT gmail DOT com>
- Author: Denis Dillenberger <denis.dillenberger AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/dillenberger/pepperl_fuchs/issues
- Source: git https://github.com/dillenberger/pepperl_fuchs.git (branch: master)
The Pepperl+Fuchs R2000 laser range finder driver package
- Maintainer status: maintained
- Maintainer: Denis Dillenberger <denis.dillenberger AT gmail DOT com>
- Author: Denis Dillenberger <denis.dillenberger AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/dillenberger/pepperl_fuchs/issues
- Source: git https://github.com/dillenberger/pepperl_fuchs.git (branch: master)
Used by (1)
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Pepperl Fuchs Inc Oh
The Pepperl+Fuchs R2000 laser range finder driver package
- Maintainer status: maintained
- Maintainer: Denis Dillenberger <denis.dillenberger AT gmail DOT com>
- Author: Denis Dillenberger <denis.dillenberger AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/dillenberger/pepperl_fuchs/issues
- Source: git https://github.com/dillenberger/pepperl_fuchs.git (branch: master)
Jenkins jobs (9)
The Pepperl+Fuchs R2000 laser range finder driver package
- Maintainer status: maintained
- Maintainer: Denis Dillenberger <denis.dillenberger AT gmail DOT com>
- Author: Denis Dillenberger <denis.dillenberger AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/dillenberger/pepperl_fuchs/issues
- Source: git https://github.com/dillenberger/pepperl_fuchs.git (branch: master)
Contents
- Pepperl+Fuchs R2000 Driver
- Usage with ROS
- Basic usage without ROS
This is the documentation of a driver for the Pepperl+Fuchs OMDxxM-R2000-B23 laser range finder.
The driver is based upon the widespread boost asio library (http://www.boost.org)
The driver comes as a library, which contains the actual driver, and has additionally a ROS-Node interface to the Robot Operating System (http://www.ros.org), which can be used optionally.
Sensor information
The new 2-dimensional laser range sensor operates using tried-and-tested Pulse Ranging Technology and boasts a range of unique features. For example, the device features a laser emitter with a visible red light. Users can see where the scanning level is and can align the device accordingly. Thanks to its classification in laser class 1, the device can be used in all workspaces, without posing a health hazard to people. The device has a measuring angle of 360° and boasts a measuring frequency of up to 250,000 individual measurements per second. Combined with a scanning frequency of up to 50 Hz, the device is extremely well suited to highspeed applications. Another feature is the display integrated in the lens aperture. (from the official datasheet with permission from Pepperl+Fuchs)
Official Website: http://www.pepperl-fuchs.com/global/en/classid_53.htm?view=productdetails&prodid=43828#overview
Datasheet OMD10M-R2000 (en): http://files.pepperl-fuchs.com/selector_files/navi/productInfo/edb/232934_eng.pdf
Datasheet OMD30M-R2000 (en): http://files.pepperl-fuchs.com/selector_files/navi/productInfo/edb/263095_eng.pdf
Usage with ROS
The ROS package pepperl_fuchs_r2000 consists of the driver library and a node named r2000_node, which is linked to the library. This is the actual driver node. The dummy_slam_broadcaster is only needed if you want to display the sensors data using the QuickStart method mentioned below.
Published Topics
scan (sensor_msgs/LaserScan) A standard ROS Laserscan message containing the measured data. The message rate per second depends on the scan_frequency parameter.
Parameters
frame_id The frame-ID in the Header of the published sensor_msgs/LaserScan messages
scanner_ip IP or hostname of the laserscanner
scan_frequency The scan frequency (rotation speed of scanner head) in Hz in the range [10;50]
samples_per_scan The number of distances measured per scan/rotation in the range [72;25200]. Only certain values are allowed (see Manual). Examples are 72, 360, 720, 1440, 1800, 3600, 7200, 10080, 25200.
Quick Start
Copy the driver in your ROS workspace and compile it. Set the IP-Address of the scanner in pepperl_fuchs_r2000/launch/gui_example.launch and run the following command:
This starts RViz (http://wiki.ros.org/rviz) and the driver and you should see the measuring output of the scanner.
Basic usage without ROS
Solenoid Driver Pepperl Fuchs
There exists a file CMakeLists.txt.NO_ROS_LIB_ONLY in the pepperl_fuchs_r2000 directory. Replace CMakeLists.txt with it to compile the driver without ROS:
Drivers Pepperl Fuchs Xerox
This builds a SHARED library which can be used in your program. To build a static library remove the SHARED in the add_library command in the CMakeLists.txt.
The basic usage of the driver library code (C++11 style) is as follows:
More documentation
Drivers Pepperl Fuchs Proximity
The driver is commented in doxygen style. You can create a latex and html documentation in the pepperl_fuchs_r2000/doxygen directory by entering the following command in the pepperl_fuchs_r2000 directory: