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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.