sickLDMRS

SICK LD MRS / Multi plae and multi return laser scanner. More...

SICK LD MRS / Multi plae and multi return laser scanner.

This driver is for communicting with the Ibeo LUX laser scanner over ethernet using the tcpstream driver

Provides

• laser

Requires

• opaque

Supported commands

• none

Supported configuration requests

• none

Configuration file options

• buffer_size (int)
  • default: 100000
  • The size of the buffer in the lux driver
• layer (int)
  • -1(default) = all layers
  • 0,1,2,3 = only publish layer x of the data (3 = highest)
• echo (int)
  • -1(default) = all echos
  • 0,1,2,3 = only publish laser returns which are echo x
• intensity (0,1,2,3)
  • 1(default) - publishes the echo width (in cm) as the intensity variable (cut at 255cm should never be exceeded?)

2 - publishes the echo number as the intensity value (0,1,2,3)

• 3 - publishes the scan layer as the intensity value (0,1,2,3)
• 0 - No intensity data

Example:

driver
(
  name "sickLDMRS"
  provides ["laser:0"]
  requires ["opaque:0"]
  buffer_size 20480
  layer 3
)

driver
(
  name "tcpstream"
  provides ["opaque:0"]
  port 12002
  ip "10.99.0.1"
  buffer_size 10000
)

Author:

Chris Chambers