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.