1 ROS驱动
在ROS中没有直接的Tim561驱动，一般是修改自sick_tim包中的Tim551，但是Tim551与Tim561参数不同（Tim561的角度分辨率是0.33°，而Tim551是1°），我们要检验一下有没有问题。
在ROS中，激光雷达消息scan数据如下，该传感器主要返回两类数据：距离值ranges和反射强度值intensities。
header:
seq: 4103
stamp:
secs: 1569397206
nsecs: 998748541
frame_id: "laser"
angle_min: -2.35619449615
angle_max: 2.35619449615
angle_increment: 0.0174532923847
time_increment: 6.17219993728e-05
scan_time: 0.0666666701436
range_min: 0.0500000007451
range_max: 10.0
ranges: [0.06199999898672104, 0.0560000017285347, 0.057999998331069946, 0.057999998331069946, 0.05999999865889549, 0.05999999865889549, 0.04899999871850014, 0.04699999839067459, 0.04899999871850014, 0.052000001072883606, 0.05400000140070915, 0.05900000035762787, 0.04899999871850014, 0.052000001072883606, 0.04699999839067459, 0.050999999046325684, 0.052000001072883606, 0.05299999937415123, 0.057999998331069946, 0.06199999898672104, 0.06199999898672104, 0.06700000166893005, 0.06199999898672104, 0.057999998331069946, 0.054999999701976776, 0.05299999937415123, 0.050999999046325684, 0.05299999937415123, 0.05000000074505806, 0.05700000002980232, 0.05000000074505806, 0.05000000074505806, 0.05400000140070915, 0.050999999046325684, 0.05400000140070915, 0.052000001072883606, 0.06400000303983688, 0.057999998331069946, 0.04899999871850014, 0.05299999937415123, 0.054999999701976776, 0.05000000074505806, 0.05400000140070915, 0.050999999046325684, 0.05299999937415123, 0.05000000074505806, 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intensities: [147.0, 154.0, 147.0, 147.0, 151.0, 163.0, 163.0, 169.0, 175.0, 178.0, 178.0, 181.0, 178.0, 181.0, 178.0, 181.0, 185.0, 185.0, 185.0, 188.0, 188.0, 191.0, 191.0, 188.0, 191.0, 188.0, 188.0, 188.0, 185.0, 191.0, 185.0, 185.0, 188.0, 185.0, 188.0, 185.0, 191.0, 188.0, 185.0, 188.0, 185.0, 185.0, 185.0, 185.0, 188.0, 185.0, 188.0, 181.0, 185.0, 181.0, 181.0, 181.0, 181.0, 181.0, 185.0, 181.0, 181.0, 181.0, 181.0, 181.0, 175.0, 175.0, 175.0, 172.0, 166.0, 160.0, 160.0, 163.0, 157.0, 163.0, 163.0, 163.0, 163.0, 160.0, 163.0, 160.0, 163.0, 166.0, 163.0, 163.0, 163.0, 160.0, 160.0, 157.0, 160.0, 157.0, 151.0, 144.0, 147.0, 147.0, 157.0, 154.0, 151.0, 154.0, 163.0, 144.0, 147.0, 154.0, 147.0, 154.0, 147.0, 151.0, 154.0, 154.0, 154.0, 154.0, 151.0, 154.0, 151.0, 154.0, 157.0, 157.0, 163.0, 163.0, 163.0, 163.0, 163.0, 166.0, 163.0, 172.0, 172.0, 175.0, 175.0, 175.0, 172.0, 172.0, 169.0, 166.0, 163.0, 169.0, 163.0, 160.0, 160.0, 160.0, 157.0, 157.0, 154.0, 154.0, 157.0, 154.0, 157.0, 151.0, 157.0, 151.0, 151.0, 151.0, 151.0, 151.0, 147.0, 151.0, 147.0, 141.0, 144.0, 141.0, 141.0, 141.0, 141.0, 141.0, 141.0, 138.0, 135.0, 135.0, 132.0, 132.0, 129.0, 126.0, 126.0, 101.0, 117.0, 129.0, 126.0, 129.0, 126.0, 126.0, 120.0, 114.0, 120.0, 114.0, 114.0, 123.0, 117.0, 107.0, 114.0, 110.0, 110.0, 114.0, 114.0, 110.0, 114.0, 117.0, 117.0, 114.0, 114.0, 92.0, 169.0, 191.0, 188.0, 188.0, 135.0, 175.0, 194.0, 200.0, 188.0, 191.0, 194.0, 92.0, 160.0, 206.0, 194.0, 185.0, 181.0, 175.0, 138.0, 175.0, 163.0, 166.0, 163.0, 147.0, 123.0, 141.0, 52.0, 73.0, 98.0, 92.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 92.0, 132.0, 92.0, 110.0, 138.0, 39.0, 0.0, 0.0, 0.0, 83.0, 33.0, 43.0, 129.0, 129.0, 132.0, 135.0, 138.0, 132.0, 126.0, 114.0, 120.0, 120.0, 89.0, 154.0, 144.0, 163.0, 151.0, 169.0, 178.0, 175.0, 144.0, 169.0, 166.0, 80.0, 83.0]
我们发现，角度分辨率angle_increment是0.0174532923847 rad = 1°，这明显与官方描述的0.33°不一致，因此要修改。我们只需要对传感器恢复出厂设置即可，操作很简单，在官方的调试软件SOPAS中用授权的用户与client密码登陆后单击如下图所示的选项即可。
修改后的数据如下，分辨率已改正（angle_increment：0.005817 rad = 0.33°），但是我们发现反射强度值intensities怎么没了。
header:
seq: 868
stamp:
secs: 1569457330
nsecs: 399227381
frame_id: "laser"
angle_min: -2.35619449615
angle_max: 2.35572338104
angle_increment: 0.00581718236208
time_increment: 6.17219993728e-05
scan_time: 0.0666666701436
range_min: 0.0500000007451
range_max: 10.0
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intensities: []
原因是我们没有选择，还是在官方的配置软件中，勾选RSSI，然后再在上面的菜单栏中选择Parameter，并save permanently即可。
修改后我们再试就发现有反射强度值intensities了。
header:
seq: 857
stamp:
secs: 1569460628
nsecs: 752694130
frame_id: "laser"
angle_min: -2.35619449615
angle_max: 2.35572338104
angle_increment: 0.00581718236208
time_increment: 6.17219993728e-05
scan_time: 0.0666666701436
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如果想读取激光雷达的配置参数，可以使用以下指令：
<STX>sRN LMPscancfg<ETX>
传感器的返回值如下图所示
其含义[1]是：
5DC：扫描频率15Hz
D05：角度分辨率0.333°
1：第一个Sector
FFF92230：起始角度-45°
225510：终止角度225°
起始角度我们直接用默认值即可，因为Sick对角度的规定如下图。在ROS中，起始角度是可以设置的，但是我们也不用改，使用默认即可，也就是angle_min: -2.35619449615 angle_max: 2.35572338104，可能ROS中的0°是Sick中的90°。
2 有线网和WIFI共用
Tim561的默认IP地址一般是192.168.0.1，我们最好改一下，因为一般无线路由器自动分配的网段也是192.168.0.X，这就冲突了。如果我们想在ubuntu 中同时连接WiFi和Tim561，那么会导致无法使用WiFi上外网，因为有线的优先级更高，上网请求都发给了Tim561。即使你按照网上的教程，例如这篇，将WiFi的网关设置成默认网关也不行，因为Tim561和WiFi还是在同一网段内。
给Tim561修改IP的方法如下，在官方配置软件SopasET中，右键传感器图标选择“更改IP地址”，然后设置即可。这里我改为了192.168.33.5，具体是多少无所谓，只要不和无线路由器的一样就行。
修改完Tim561的IP地址后，别忘了将主机的IP地址也得改为同一网段才可以连接，如下。
然后我们就既可以使用WiFi上网也可以使用Tim561传感器了，见下图。
[1] Telegram Listing Ranging sensors LMS1xx, LMS5xx, TiM5xx, TiM7xx, LMS1000, MRS1000, MRS6000, NAV310, LD-OEM15xx, LD-LRS36xx，4.2.2节，24页 。
开心洋葱 , 版权所有丨如未注明 , 均为原创丨未经授权请勿修改 , 转载请注明ROS 中Tim561激光雷达的参数配置！
