Gearbox sickacfr SICK LMS driver library

This driver provides a interface_ranger interface to the sickacfr SICK LMS400 laser scanner driver provided by Gearbox.

Compile-time dependencies
  • Gearbox library GbxSickAcfr
Provides
  • interface_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