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Subsections


7.39 sicklms200

Authors

Andrew Howard ahoward(at)usc.edu,Richard T. Vaughan vaughan(at)sfu.com,Kasper Støy

Synopsis

The sicklms200 driver is used to control a SICK LMS-200 laser range-finder.

Interfaces

Supported interfaces:

Required devices:

Supported configuration requests:

Configuration file options

Name Type Default Meaning
pose tuple [0.0 0.0 0.0] The mounted pose of the laser (in mm, mm, degrees)
delay integer 0 Startup delay on the laser, in seconds (set this to 35 if you have a newer generation Pioneer whose laser is switched on when the serial port is open).
port string "/dev/ttyS1" The serial port to be used
rate integer 38400 Baud rate to use when talking to laser; should be one of 9600, 38400, 500000.
resolution integer 50 The angular scan resolution to be used (in units of 0.01 degrees)
range_res integer 1 The range resolution mode of the laser. Set to 1 to get 1 mm resolution with 8 m max range; set to 10 to get 1 cm resolution with 80 m range; set to 100 to get 10 cm resolution with 800 m max range.
invert integer 0 Set this flag if the laser is mounted upside-down; the range and bearing results will be flipped so the laser appears to be right-way-up.

Notes


next up previous contents
Next: 7.40 sickpls Up: 7. Device Drivers Previous: 7.38 serviceadv-lsd   Contents
2004-06-02