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
  • interface_laser
Requires
  • interface_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