gbxsickacfr

Gearbox sickacfr SICK LMS driver library. More...

Gearbox sickacfr SICK LMS driver library.

This driver provides a ranger interface to the sickacfr SICK LMS400 laser scanner driver provided by Gearbox.

Compile-time dependencies

• Gearbox library GbxSickAcfr

Provides

• ranger : Output ranger interface

Supported configuration requests

• PLAYER_RANGER_REQ_GET_GEOM
• PLAYER_RANGER_REQ_GET_CONFIG

Configuration file options

• min_range (float, metres)
  • Default: 0.0m
• max_range (float, metres)
  • Default: 80.0m
• field_of_view (float, radians)
  • Default: 3.14 radians (180.0 degrees)
• start_angle (float, radians)
  • Default: -1.57 radians (-90.0 degrees)
• num_samples (integer)
  • Default: 181
  • Number of range samples to take. Divide field_of_view by this to get the resolution.
• baudrate (integer)
  • Default: 38400
• port (string)
  • Default: /dev/ttyS0
  • Serial port the laser is connected to.
• debug (boolean)
  • Default: false
  • Turn on debugging mode of the underlying library to get verbose output.
• pose (float 6-tuple: (m, m, m, rad, rad, rad))
  • Default: [0.0 0.0 0.0 0.0 0.0 0.0]
  • Pose (x, y, z, roll, pitch, yaw) of the laser relative to its parent object (e.g. the robot).
• size (float 3-tuple: (m, m, m))
  • Default: [0.0 0.0 0.0]
  • Size of the laser in metres.
• 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).

Example

driver
(
  name "gbxsickacfr"
  provides ["ranger:0"]
  port "/dev/ttyS0"
  baud 57600
)

Author:

Geoffrey Biggs