keyence_experimental

A library for communicating with Keyence LJ-V series sensors over TCP/IP.

It has been tested on the Keyence LJ-V7080 at Southwest Research Institute.

Organization

This package is divided into two logical components:

• A cmake-based library for communication with the Keyence (only dependencies are C++-11 and libsocket)
• A ROS node that uses the library to publish point clouds

Build

The keyence library requires:

• wstool

Download wstool and dependencies:

mkdir -p my_workspace/src
cd my_workspace/src
wstool init .
wstool merge https://github.com/ros-industrial/keyence_experimental/raw/kinetic-devel/keyence_experimental.rosinstall
wstool update
cd ..
catkin build

Capability

Currently, laser program configuration must be done through the Windows-based Keyence utility. This API supports:

• Changing active programs
• Sampling individual profiles via the service interface

Examples

See the keyence_library/src directory for C++ examples of the above capabilities.

ROS Node

To run the ros node:

rosrun keyence_experimental keyence_driver_node _controller_ip:=xxx.xxx.xxx.xxx

Or set the controller_ip parameter as a private param in a launch file.

The following additional parameters are supported:

• controller_port, defaults to 24691, the service-port of the Keyence controller
• frame_id, defaults to sensor_optical_frame, the frame of reference included in the published point cloud

By default the node publishes XYZ point clouds on the profiles topic. Note that nothing will be published if no one subscribes that topic.

The active program can be set via the keyence_experimental::ChangeProgram service call. See the srv/ directory for more info.