Feature/master and subscribers

CHANGELOG.rst

@@ -1,6 +1,12 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package psen_scan_v2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Forthcoming
+-------------------
+* Add PSENscan Subscribers up to 3 (#338)
+* Add PSENscan cad meshes (#338)
+* Contributors: Pilz GmbH and Co. KG
+
 0.10.2 (2022-11-03)
 -------------------
 * Remove zoneset bits from IOState.input field since its redundant to the active_zoneset field (#311)

README.md

@@ -10,21 +10,52 @@ The **psen_scan_v2** package is a ROS integration driver for the PSENscan safety
 <img src="img/PSENscan.jpg" alt="PILZ safety laser scanner" title="PILZ safety laser scanner">
 </p>
 
-PSENscan firmware >= 3.1.0 is supported on the following models:
-
-| Type | Features | Order number |
-|------|----------|--------------|
-| |	Common features:<ul><li>compliant and approved in accordance with: EN/IEC 61496-1: Type 3, EN ISO 13849-1: PL d, IEC 61508: SIL 2</li><li>opening angle: 275°</li><li>operating range: 3.0 or 5.5 m safety zone, 40 m warning zone</li><li>reaction time: 62 ms</li><li>Protection type: IP65</li><li>Dimensions (H x W x D) in mm: 152 x 102 x 112.5</li></ul> | |
-| | *Light versions*	Additional features: Muting, EDM, Override | |
-| PSEN sc L 3.0 08-12	| 3.0 m safety zone, 8 or 12-pin exchangeable memory module |	6D000012 |
-| PSEN sc L 5.5 08-12	| 5.5 m safety zone, 8 or 12-pin exchangeable memory module	| 6D000013 |
-| | *Master versions*	Additional features: Muting, EDM, Override, restart in accordance with EN ISO 61496-3, vertical applications| |
-| PSEN sc M 3.0 08-12	| 3.0 m safety zone, 8 or 12-pin exchangeable memory module	| 6D000016 |
-| PSEN sc M 5.5 08-12	| 5.5 m safety zone, 8 or 12-pin exchangeable memory module	| 6D000017 |
-| PSEN sc ME 5.5 08-17  | Master Encoder, 5.5 m safety zone, 8/17-pin exchangeable memory | 6D000019 |
+**Common features:**
+<ul>
+   <li>Compliant and approved in accordance with:
+      <ul>
+         <li> EN/IEC 61496-1: Type 3 </li>
+         <li> EN ISO 13849-1: PL d </li>
+         <li> IEC 61508: SIL 2 </li>
+      </ul>
+   </li>
+   <li>Opening angle: 275°</li>
+   <li>Operating range: 3.0 or 5.5 m safety zone, 40 m warning zone</li>
+   <li>Reaction time: 62 ms</li>
+   <li>Protection type: IP65</li>
+   <li>Dimensions (H x W x D) in mm: 152 x 102 x 112.5</li>
+</ul>
+
+### The PSENscan firmware (3.1.x) is supported on the following models:
+
+#### *Light versions*	
+| Type                  | Features                                                                 | Order number |
+|-----------------------|--------------------------------------------------------------------------|--------------|
+| PSEN sc L 3.0 08-12	| 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000012     |
+| PSEN sc L 5.5 08-12	| 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000013     |
+
+Additional features: Muting, EDM, Override
+
+#### *Master versions*
+| Type                  | Features                                                                  | Order number |
+|-----------------------|---------------------------------------------------------------------------|--------------|
+| PSEN sc M 3.0 08-12	| 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time  | 6D000016     |
+| PSEN sc M 5.5 08-12	| 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time  | 6D000017     |
+| PSEN sc M 5.5 08-17   | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time  | 6D000019     |
+| PSEN sc ME 5.5 08-17  | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time  | 6D000034     |
+
+Additional features: Muting, EDM, Override, restart in accordance with EN ISO 61496-3, vertical applications
+
+#### *Subscriber versions*	
+| Type                  | Features                                                                  | Order number |
+|-----------------------|---------------------------------------------------------------------------|--------------|
+| PSEN sc S 3.0 08-12	| 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time  | 6D000020     |
+| PSEN sc S 5.5 08-12	| 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time  | 6D000021     |
+
+Additional features: reference marks, vertical applications
 
 ## C++ standalone library
-If you are interested in using the PSENscan safety laser scanner without ROS, please take a look at our C++ standalone library. You can read more about it [in the `standalone` folder](https://github.com/PilzDE/psen_scan_v2/blob/main/standalone/README.md)
+If you are interested in using the PSENscan safety laser scanner without ROS, please take a look at our C++ standalone library. You can read more about it in the [`standalone`](https://github.com/PilzDE/psen_scan_v2/blob/main/standalone/README.md) folder.
 
 ## Table of Contents
 
@@ -57,14 +88,23 @@ sudo apt install ros-$ROS_DISTRO-psen-scan-v2
 ```
 
 ## Usage
-To start reading data from the safety laser scanner and publishing scans execute `roslaunch psen_scan_v2 psen_scan_v2.launch` in a command line. This will launch the ROS Node with the default configuration.
+This package is capable to read data from 1 Master safety laser scanner, and up to 3 Subscribers safety laser scanners, as shown below:
 
-If you wish to set parameters from the command line, add them to the end of the command as `parameter:=value`, separated by spaces.
+<p align="center">
+<img src="img/Master_and_Subscribers.jpg">
+</p>
+
+To read data and publishing scans from **1** safety laser scanner (Master, Light), execute in a command line:
+
+```bash
+ roslaunch psen_scan_v2 psen_scan_v2.launch sensor_ip:=192.168.0.10
+```
+
+To read the data from differents safety laser scanners (Master and Subscriber0), execute in command line:
 
 ```bash
-roslaunch psen_scan_v2 psen_scan_v2.launch sensor_ip:=192.168.0.10
+roslaunch psen_scan_v2 psen_scan_v2.launch sensor_ip:=192.168.0.10 nr_subscribers:=1
 ```
-This example configures the safety laser scanner at 192.168.0.10 to send it´s frames to the ROS node at localhost.
 
 In order to create an application with your own launch file, you can include the `bringup.launch`, where you can easily adjust the configuration parameters. A more detailed explanation can be found in the [tutorials](http://wiki.ros.org/psen_scan_v2/Tutorials/).
 
@@ -73,6 +113,9 @@ In order to create an application with your own launch file, you can include the
 _sensor_ip_ (_string_, default: "192.168.0.10")<br/>
 IP-Address of safety laser scanner.
 
+_nr_subscribers (_int_, default: "0")<br/>
+Number of Subscribers safety laser scanners connected to the Master. **Note: nr_subscribers [0 .. 3] maximum!**
+
 ### Optional Parameters
 
 _tf_prefix_ (_string_, default: "laser_1")<br/>
@@ -112,6 +155,7 @@ Start a preconfigured rviz visualizing the scan data.
 
 ### Published Topics
 /\<name\>/scan ([sensor_msgs/LaserScan][])<br/>
+/\<name\>/scan_SubscriberX ([sensor_msgs/LaserScan][])<br/>
 
 * If _fragmented_scans_ is set to false (default) the driver will publish complete scan rounds from the PSENscan safety laser scanner as a single message.
 * If _fragmented_scans_ is enabled the driver will send the measurement data as soon as they arrive, instead of waiting for the scan round to be completed. This way the scan data is received sooner but is split into several sensor messages.
@@ -231,7 +275,7 @@ For visualizing the active zoneset in RViz you can run the `active_zoneset_node`
 ### Branching model
 `main` is considered to be the active development branch, it targets the ROS distributions `melodic` and `noetic`.
 
-The branch `ros2` is still experimental and targets the ROS 2 distributions `foxy` and `rolling`.
+The `ros2` branch targets the ROS 2 `foxy`, `humble` and `rolling` distributions. You can find the location of the psen_scan_v2-2 repository at the following link: https://github.com/PilzES/psen_scan_v2-2
 
 With the first ROS 2 release the version number model of this package was changed:
 - ROS 1 releases now count from 0.10.0 upwards.

config/config.rviz

@@ -6,12 +6,8 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-        - /LaserScan1
-        - /TF1
-        - /RobotModel1
-        - /MarkerArray1
-      Splitter Ratio: 0.5
-    Tree Height: 447
+      Splitter Ratio: 0.6705882549285889
+    Tree Height: 363
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -25,12 +21,12 @@ Panels:
     Expanded:
       - /Current View1
     Name: Views
-    Splitter Ratio: 0.5
+    Splitter Ratio: 0.6062992215156555
   - Class: rviz/Time
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: LaserScan
+    SyncSource: LaserScanMaster
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -74,7 +70,7 @@ Visualization Manager:
       Max Intensity: 2763
       Min Color: 239; 41; 41
       Min Intensity: 360
-      Name: LaserScan
+      Name: LaserScanMaster
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
@@ -86,28 +82,72 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: false
       Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: false
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 252; 233; 79
+      Max Intensity: 2763
+      Min Color: 239; 41; 41
+      Min Intensity: 360
+      Name: LaserScanSubscriber
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic: /laser_1/scan_Subscriber0
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: false
+      Value: true
     - Class: rviz/TF
       Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
       Frame Timeout: 15
       Frames:
-        All Enabled: true
+        All Enabled: false
         laser_1:
           Value: true
+        laser_1_Subscriber0:
+          Value: true
+        laser_1_Subscriber0_body_link:
+          Value: true
+        laser_1_Subscriber0_mount_link:
+          Value: false
         laser_1_body_link:
           Value: true
         laser_1_mount_link:
+          Value: false
+        reference_link:
           Value: true
-      Marker Alpha: 1
-      Marker Scale: 0.5
+      Marker Scale: 0.25
       Name: TF
       Show Arrows: true
       Show Axes: true
       Show Names: true
       Tree:
-        laser_1_mount_link:
-          laser_1_body_link:
-            laser_1:
-              {}
+        reference_link:
+          laser_1_Subscriber0_mount_link:
+            laser_1_Subscriber0_body_link:
+              laser_1_Subscriber0:
+                {}
+          laser_1_mount_link:
+            laser_1_body_link:
+              laser_1:
+                {}
       Update Interval: 0
       Value: true
     - Alpha: 0.5
@@ -124,6 +164,19 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+        laser_1_Subscriber0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        laser_1_Subscriber0_body_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        laser_1_Subscriber0_mount_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         laser_1_body_link:
           Alpha: 1
           Show Axes: false
@@ -133,6 +186,10 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+        reference_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
       Name: RobotModel
       Robot Description: robot_description
       TF Prefix: ""
@@ -144,17 +201,17 @@ Visualization Manager:
       Marker Topic: /laser_1/active_zoneset_markers
       Name: MarkerArray
       Namespaces:
-        active zoneset safety1 min:+11.0 max:+30.0: true
-        active zoneset safety1 min:-50.0 max:+10.0: true
-        active zoneset warn1 min:+11.0 max:+30.0: true
-        active zoneset warn1 min:-50.0 max:+10.0: true
+        "active zoneset safety1 ": true
+        "active zoneset safety1_Sub0 ": true
+        "active zoneset warn1 ": true
+        "active zoneset warn1_Sub0 ": true
       Queue Size: 100
       Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: laser_1_mount_link
+    Fixed Frame: reference_link
     Frame Rate: 30
   Name: root
   Tools:
@@ -178,33 +235,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 3.5317435264587402
+      Distance: 2.4475436210632324
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
-      Field of View: 0.7853981852531433
       Focal Point:
-        X: 0.1902836561203003
-        Y: -0.0010642623528838158
-        Z: -0.5996174812316895
+        X: 0
+        Y: 0
+        Z: 0
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7547971606254578
+      Pitch: 0.7150002121925354
       Target Frame: <Fixed Frame>
-      Yaw: 0.6699999570846558
+      Value: Orbit (rviz)
+      Yaw: 4.70818567276001
     Saved: ~
 Window Geometry:
   Displays:
-    collapsed: false
-  Height: 752
-  Hide Left Dock: false
+    collapsed: true
+  Height: 1025
+  Hide Left Dock: true
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000016b0000024dfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f0000024d000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000024ffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003e0000024f000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005a00000003ffc0100000002fb0000000800540069006d00650100000000000005a00000027500fffffffb0000000800540069006d006501000000000000045000000000000000000000042f0000024d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000362fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d00000362000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000014600000362fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000362000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003ffc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000007800000036200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -213,6 +270,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1440
-  X: 273
-  Y: 33
+  Width: 1920
+  X: 0
+  Y: 27