sicklms400

SICK LMS 400 laser range-finder. More...

SICK LMS 400 laser range-finder.

The sicklms400 driver controls the SICK LMS 400 scanning laser range-finder.

Compile-time dependencies

• none

Provides

• laser

Requires

• none

Configuration requests

• PLAYER_LASER_REQ_GET_CONFIG
• PLAYER_LASER_REQ_GET_GEOM
• PLAYER_LASER_REQ_GET_ID
• PLAYER_LASER_REQ_SET_CONFIG
• PLAYER_LASER_REQ_SET_FILTER

Configuration file options

• hostname (string)
  • Default: "192.168.0.1"
  • IP address of the SICK LMS 400 (Ethernet version)
• port (integer)
  • Default: 2111
  • TCP port of the SICK LMS 400 (Ethernet version)
• filter (integer)
  • Default: 0 (disabled)
  • Filter settings. Valid values are:
    • 0 (disabled)
    • 1 (enable median filter)
    • 2 (enable edge filter)
    • 4 (enable range filter)
    • 8 (enable mean filter)
  • Notes :
    • 1) You can combine the filters as required. If several filters are active, then the filters act one after the other on the result of the previous filter. The processing in this case follows the following sequence: edge filter, median filter, range filter, mean filter.
    • 2) You can use PLAYER_LASER_REQ_SET_FILTER to enable/disable the filters as well as set their parameters from the client. The parameters of the filters are stored in a float array in the sequence mentioned above. Since the current LMS400 firmware version (1.20) supports setting the parameters for the range and mean filters, the order of the parameters in the (player_laser_set_filter_config_t - float parameters[]) array, provided that both range and mean are enabled is: [BottomLimit TopLimit Mean]
• range_filter_parameters (float tuple)
  • Default: [700.0 3000.0] (BottomLimit TopLimit)
  • Define a specific range within which measured values are valid and are output. Possible values: [+700.0...+3000.0 (bottom limit)...+3000.0]
• mean_filter_parameter (integer)
  • Default: 2.
  • Define the number of means for the mean filter. Possible values: 2..200.
• angular_resolution (float)
  • Default: 0.25 degrees
  • Angular resolution. Valid values are: 0.1 ..1 (with 0.1 degree increments)
• scanning_frequency (float)
  • Default: 500 Hz.
  • Scanning frequency. Valid values are:
    • 200..500Hz (on the LMS400-0000)
    • 360..500Hz (on the LMS400-1000)
• min_angle (float)
  • Default: 55 degrees.
  • Defines the minimum angle of the laser unit (where the scan should start). Valid values: 55-124 degrees.
• max_angle (float)
  • Default: 125 degrees.
  • Defines the maximum angle of the laser unit (where the scan should end). Valid values: [min_angle]-125 degrees.
• 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.
• enable_eRIS (integer)
  • Default: 1
  • Enable extended RIS detectivity. If you want to measure objects with remission values < 10%, you can extend the so-called Remission Information System (RIS) on the LMS4000.
• password (string)
  • Default: servicelevel/81BE23AA
  • Service (userlevel 3) password. Used for enabling/disabling and/or setting the filter parameters.
• debug (int)
  • Default: 0
  • Enable debugging mode (read/writes to the device are printed on screen). Valid values: 0 (disabled), 1 (enabled for standard messages), 2 (enabled for all messages including measurements - warning: this slows down your throughoutput date!).

Example

driver
(
  name "sicklms400"
  provides ["laser:0"]
  hostname "192.168.0.1"
  port 2111

  # Enable median, range and mean filter
  filter 13
  # Set the range filter parameters to 800...2000mm
  range_filter_parameters [800.0 2900.0]
  # Set the mean filter parameter
  mean_filter_parameter 3

  # Set the angular resolution (0.1 degrees) and scanning frequency (360Hz)
  angular_resolution 10
  scanning_frequency 360

  # Userlevel 3 password (hashed). Default: servicelevel/81BE23AA
  password "81BE23AA"
)

Author

Nico Blodow and Radu Bogdan Rusu