gbxsickacfr
Drivers

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

Last updated 12 September 2005 21:38:45