The sicklms200 driver controls the SICK LMS 200 scanning laser range-finder.
- Compile-time dependencies
- Provides
- Requires
- Configuration requests
- PLAYER_LASER_REQ_GET_GEOM
- PLAYER_LASER_REQ_GET_CONFIG
- PLAYER_LASER_REQ_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".
- connect_rate (integer tuple)
- Ordered list of rates to be tried when establishing connection with the laser.
- Default: [9600 38400 500000]
- Baud rate. Valid values are 9600, 38400 (RS232 or RS422) and 500000 (RS422 only).
- transfer_rate (integer)
- Rate desired for data transfers, negotiated after connection
- Default: 38400
- Baud rate. Valid values are 9600, 38400 (RS232 or RS422) and 500000 (RS422 only).
- retry (integer)
- Default: 0
- If the initial connection to the laser fails, retry this many times before giving up.
- delay (integer)
- Default: 0
- Delay (in seconds) before laser is initialized (set this to 32-35 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).
- size (length tuple)
- Default: [0.15 0.15]
- Footprint (x,y) of the laser.
- 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)
)
- Author:
- Andrew Howard, Richard Vaughan, Kasper Stoy
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Last updated 12 September 2005 21:38:45
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