• Precaster 2D laser CA113
• Features
• Applications
• Technical data
• Configuring Precaster 2D laser CA113A
• Compiling the code from sources
• Launching manually
• Starting a roscore
• Setting Parameters
• Running Precaster 2D laser ca113a node
• Launch file

Precaster 2D laser CA113

CA113 is designed as a compact and reliable 2D laser distance measuring sensor. The pulse technology gives the good accuracy and response time in distance measuring and a stable output under strong ambient light.

Features

• Highly Customizable module fit for most duties.
• Adjustable High Speed measuring up to 1800HZ.
• Digital output with UART.
• TOF Non-Contact Measuring Low Consumption Sensor.
• Light Communication for Data transmission.
• Ultra Durable Rotary Base.

Applications

• Robot eyes distance measuring
• Positioning and monitor of objects
• Security applications movement detections
• Level and elevator measuring
• Drone dodge action control
• 2D scanning and mapping

Technical data

Model No.	CA113 Spec.	CA113 Tolerance
Maximun measuring range	6 meters	6.5m
Minimum Measuring Range	0.1 meters	0.05m
Repeatability Accuracy from 0.5m to 1m	±20 mm	Standard Deviation 2σ, Kodak White Board
Repeatability Accuracy from 1m to 5m	±40 mm
Repeatability Accuracy over 6m	±1% of measured distance
Measurement Time	1800 Hz
Unit	Millimeter
Power Source	12V	±0.2V
Power Consumption	2W
Laser Radiation	Class 1
Laser Wavelength	808nm
Rotation Speed	300rpm	±30rpm
Rotation Angle Resolution	1°
Rotation Angle Accuracy	±0.5°
Operating Temperature Range	-5°C~40°C
Storage Temperature Range	-20°C~60°C
Serial Port Type	UART
Dimensions	61 x 21 x 18 mm
Weight	17.6g	±5g

Configuring Precaster 2D laser CA113A

Make sure that your node is able to access the data from the sensor

List the permissions of your serial port, for example in a Rpi2:

ls -l /dev/ttyAMA0

You will see something like to:

crw-rw-XX- 1 root dialout 204, 64 Dec 16 10:17 /dev/ttyAMA0

If XX is rw: the sensor is configured properly.

If XX is --: the sensor is not configured properly and you need to:

sudo chmod a+rw /dev/ttyAMA0

Compiling the code from sources

Clone this repository in a ROS workspace or create a new one

cd ~/ros_catkin_ws/src
git clone https://github.com/erlerobot/precaster_laser2d

Now compile the code:

cd ~/ros_catkin_ws/
catkin_make_isolated --install --pkg precaster_laser2d_ca113a

Launching manually

Starting a roscore

A roscore must be running:

roscore

Setting Parameters

We need to make sure that we have the correct configurations loaded on the parameter server.

If your sensor is not at the default /dev/ttyAMA you have to indicate where it is below:

rosparam set /precaster_laser2d_ca113a/port /dev/ttyAMA0

The same idea with the baudrate:

rosparam set /precaster_laser2d_ca113a/baudrate 230400

Running Precaster 2D laser ca113a node

rosrun precaster_laser2d_ca113a ca113a

Launch file

roslaunch precaster_laser2d_ca113a ca113a.launch

If you need to modify some parameters just do it in the launch file.