sicklms200

SICK LMS 200 / PLS laser range-finder. More...

SICK LMS 200 / PLS laser range-finder.

The sicklms200 driver controls the SICK LMS 200 and PLS scanning laser range-finders.

Note:
LMS200 lasers may take several seconds to start up. You may want to set the 'alwayson' option for sicklms200 to '1' in your configuration file in order start the laser when player starts. Otherwise, your client may experience a timeout in trying to subscribe to this device.
Compile-time dependencies
Provides
Requires
Configuration requests
Configuration file options
Example
#linux config
driver
(
  name "sicklms200"
  provides [ "laser:0" ]
  port "/dev/ttyUSB0"
  resolution 50
  serial_high_speed_mode 1
  serial_high_speed_baudremap 230400
  connect_rate [ 9600 500000 38400]
  transfer_rate 38400
  retry 2
  alwayson 1
)

# MAC config
driver
(
  name "sicklms200"
  provides [ "laser:0" ]
  port "/dev/cu.SLAB_USBtoUART"
  resolution 50
  serial_high_speed_mode 1
  serial_high_speed_baudremap 230400
  connect_rate [ 9600 500000 38400]
  transfer_rate 38400
  retry 2
  alwayson 1
)

#FTDI Config
driver
(
  name "sicklms200"
  provides [ "laser:0" ]
  port "/dev/ttyUSB0"
  resolution 50
  serial_high_speed_mode 0
  connect_rate [ 9600 500000 38400]
  transfer_rate 38400
  retry 2
  alwayson 1
)

Author:
Andrew Howard, Richard Vaughan, Kasper Stoy