sickLDMRS
Drivers

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

Last updated 12 September 2005 21:38:45