Supported Sensors and Environment Variables

Below is a list of sensors currently supported by the Robot Customizer ROS package, as well as the configurable environment variables for each sensor.

2D Lasers

  • SICK LMS1xx Series

  • Hokuyo UST-10LX

Environment Variables

Default Values

Other Values

Description

CPR_LASER

0

1

Enable/disable sensor

CPR_LASER_MODEL

lms1xx

ust10

Desired sensor model

CPR_LASER_PARENT

base_link

Any link

Mount link for sensor

CPR_LASER_TOPIC

scan

Any topic

ROS topic for sensor data

CPR_LASER_XYZ

"0 0 0"

Any XYZ

Position of sensor

CPR_LASER_RPY

"0 0 0"

Any RPY

Orientation of sensor

CPR_LASER_IP

192.168.131.20

Any IP

IP address of sensor

3D Lasers

  • Velodyne VLP-16

  • Velodyne HDL-32E

Environment Variables

Default Values

Other Values

Description

CPR_LASER_3D

0

1

Enable/disable sensor

CPR_LASER_3D_MODEL

vlp16

hdl32e

Desired sensor model

CPR_LASER_3D_PARENT

base_link

Any link

Mount link for sensor

CPR_LASER_3D_TOPIC

scan

Any topic

ROS topic for sensor data

CPR_LASER_3D_XYZ

"0 0 0"

Any XYZ

Position of sensor

CPR_LASER_3D_RPY

"0 0 0"

Any RPY

Orientation of sensor

CPR_LASER_3D_IP

192.168.131.20

Any IP

IP address of sensor

GPS

  • NovAtel SMART7

  • Garmin 18x

Environment Variables

Default Values

Other Values

Description

CPR_GPS

0

1

Enable/disable sensor

CPR_GPS_MODEL

smart7

18x

Desired sensor model

CPR_GPS_PARENT

base_link

Any link

Mount link for sensor

CPR_GPS_XYZ

"0 0 0"

Any XYZ

Position of sensor

CPR_GPS_RPY

"0 0 0"

Any RPY

Orientation of sensor

CPR_GPS_PORT

/dev/clearpath/gps

Any port

Name of sensor device port

CPR_GPS_BAUD

57600

Any baud rate

Baud rate of sensor

IMU

  • LORD MicroStrain GX3 Series

  • LORD MicroStrain GX4 Series

  • LORD MicroStrain GX5 Series

  • LORD MicroStrain CX3 Series

  • LORD MicroStrain RQ1 Series

  • LORD MicroStrain GQ7 Series

Environment Variables

Default Values

Other Values

Description

CPR_MICROSTRAIN

0

1

Enable/disable sensor

CPR_MICROSTRAIN_PARENT

base_link

Any link

Mount link for sensor

CPR_MICROSTRAIN_XYZ

"0 0 0"

Any XYZ

Position of sensor

CPR_MICROSTRAIN_RPY

"0 0 0"

Any RPY

Orientation of sensor

CPR_MICROSTRAIN_PORT

/dev/microstrain

Any port

Name of sensor device port

Cameras

  • Intel RealSense D400 Series

  • Intel RealSense L515

Environment Variables

Default Values

Other Values

Description

CPR_REALSENSE

0

1

Enable/disable sensor

CPR_REALSENSE_MODEL

d435

d435i d415 d455 l515

Desired sensor model

CPR_REALSENSE_PARENT

base_link

Any link

Mount link for sensor

CPR_REALSENSE_TOPIC

realsense

Any topic

ROS topic for sensor data

CPR_REALSENSE_XYZ

"0 0 0"

Any XYZ

Position of sensor

CPR_REALSENSE_RPY

"0 0 0"

Any RPY

Orientation of sensor

Arms

Coming soon!