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sicklms200 [Drivers] The sicklms200 driver controls the SICK LMS 200 scanning laser range-finder. Compile-time dependencies none Provides laser Requires none Configuration requests PLAYER_LASER_GET_GEOM PLAYER_LASER_GET_CONFIG PLAYER_LASER_SET_CONFIG Configuration file options port (string) Default: "/dev/ttyS1" Serial port to which laser is attached. If you are using a USB/232 or USB/422 converter, this will be "/dev/ttyUSBx". rate (integer) Default: 38400 Baud rate. Valid values are 9600, 38400 (RS232 or RS422) and 500000 (RS422 only). delay (integer) Default: 0 Delay (in seconds) before laser is initialized (set this to 35 if you have a newer generation Pioneer whose laser is switched on when the serial port is open). resolution (integer) Default: 50 Angular resolution. Valid values are: resolution 50 : 0.5 degree increments, 361 readings @ 5Hz (38400) or 32Hz (500000). resolution 100 : 1 degree increments, 181 readings @ 10Hz (38400) or 75Hz (500000). range_res (integer) Default: 1 Range resolution. Valid values are: range_res 1 : 1mm precision, 8.192m max range. range_res 10 : 10mm precision, 81.92m max range. range_res 100 : 100mm precision, 819.2m max range. invert (integer) Default: 0 Is the laser physically inverted (i.e., upside-down)? Is so, scan data will be reversed accordingly. pose (length tuple) Default: [0.0 0.0 0.0] Pose (x,y,theta) of the laser, relative to its parent object (e.g., the robot to which the laser is attached). Example driver ( name "sicklms200" provides ["laser:0"] port "/dev/ttyS0" resolution 100 # Angular resolution 1 degree (181 readings @ 10Hz) range_res 10 # Range resolution 1 cm (maximum range 81.92m) ) Authors Andrew Howard, Richard Vaughan, Kasper Stoy