Ibeo ScaLa and ScaLa Fusion
driver_name: ibeo_scala | ibeo_msgs
A ROS driver to interact with the Ibeo ScaLa sensor and the Ibeo ScaLa Fusion ECU. This driver does not work with the Ibeo LUX or the Ibeo ScaLa 3.0. Please see the list of supported hardware below for more information. This driver was developed using the Ethernet interface documentation version 1.38. An updated driver using Ethernet interface documentation 1.47 is coming soon.
Supported Hardware
- Ibeo ScaLa B2
- Ibeo ScaLa 2.0
- Ibeo ScaLa 2.0 Fusion ECU
Subscribed Topics: None
Published Topics (Single ScaLa and ScaLa Fusion ECU)
| Message Type | Topic Name | Description |
|---|---|---|
network_interface/TCPFrame | tcp_tx | A copy of all raw TCP (Ethernet) data sent from the sensor/ECU. |
sensor_msgs/PointCloud2 | as_tx/point_cloud | The scan data represented as a PCL::PointCloud<pcl::PointXYZL>. |
visualization_msgs/MarkerArray | as_tx/objects | Visualization of the detected objects as an array of wireframe boxes (intended for use in RViz). |
visualization_msgs/Marker | as_tx/object_contour_points | Visualization of the contour points which define detected objects (intended for use in RViz). |
Published Topics (Single ScaLa Sensor)
| Message Type | Topic Name | Description |
|---|---|---|
ibeo_msgs/ScanData2202 | parsed_tx/scan_data_2202 | All data produced by a single ScaLa sensor about each scan including all points and their layers. |
ibeo_msgs/ScanData2208 | parsed_tx/scan_data_2208 | All data produced by a single ScaLa sensor about each scan including all points and their layers (ScaLa 2.0). |
ibeo_msgs/ObjectData2270 | parsed_tx/object_data_2270 | All object data produced by a single ScaLa sensor and information about those objects (ScaLa B2). |
ibeo_msgs/ObjectData2271 | parsed_tx/object_data_2271 | All object data produced by a single ScaLa sensor and information about those objects (ScaLa 2.0). |
ibeo_msgs/HostVehicleState2805 | parsed_tx/host_vehicle_state_2805 | Information about the estimated and provided vehicle state (x and y position, wheel angles, velocity, yaw rate, etc.). |
Published Topics (ScaLa Fusion ECU)
| Message Type | Topic Name | Description |
|---|---|---|
ibeo_msgs/ScanData2205 | parsed_tx/scan_data_2205 | All data produced by the Fusion ECU about each scan including all points and their layers (Fusion System v2.2 and newer). |
ibeo_msgs/ObjectData2225 | parsed_tx/object_data_2225 | All object data produced by the Fusion ECU and information about those objects (Fusion System v2.1 and older). |
ibeo_msgs/ObjectData2280 | parsed_tx/object_data_2280 | All object data produced by the Fusion ECU and information about those objects (Fusion System v2.2 and newer). |
ibeo_msgs/CameraImage | parsed_tx/camera_image | Image data provided by the Fusion ECU if a camera is attached and configured. |
ibeo_msgs/HostVehicleState2806 | parsed_tx/host_vehicle_state_2806 | Information about the estimated and provided vehicle state (x and y position, wheel angles, velocity, yaw rate, etc.) (Fusion System v2.1 and older). |
ibeo_msgs/HostVehicleState2807 | parsed_tx/host_vehicle_state_2807 | Information about the estimated and provided vehicle state (x and y position, wheel angles, velocity, yaw rate, etc.) (Fusion System v2.2 and newer). |
Parameters
~ip_address
The IP address of the sensor or ECU.
~port
The TCP port on which to listen for the data from the sensor or ECU.
~is_fusion
Whether the IP address above points to a fusion ECU [true] or a single sensor [false].
~sensor_frame_id
The frame_id to be used for all published data from the sensor.