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sicklms291
[Player 2.0 Plugin Drivers]

The sicklms291 driver controls the SICK LMS 291 scanning laser range-finder (outdoor model).
Compile-time dependencies
  • none
Provides
  • player_interface_laser
Requires
  • none
Configuration requests
  • PLAYER_LASER_REQ_GET_GEOM
  • PLAYER_LASER_REQ_GET_CONFIG
  • PLAYER_LASER_REQ_SET_CONFIG
Configuration file options
  • port (string)
    • Default: "/dev/ttyS0"
    • Serial port to which laser is attached. If you are using a USB/232 or USB/422 converter, this will be "/dev/ttyUSBx".
  • rate (integer)
    • Default: 38400
    • Baud rate. Valid values are 9600, 38400 (RS232 or RS422) and 500000 (RS422 only).
  • delay (integer)
    • Default: 0
    • Delay (in seconds) before laser is initialized (set this to 35 if you have a newer generation Pioneer whose laser is switched on when the serial port is open).
  • resolution (integer)
    • Default: 50
    • Angular resolution. Valid values are:
      • resolution 50 : 0.5 degree increments, 361 readings @ 5Hz (38400) or 32Hz (500000).
      • resolution 100 : 1 degree increments, 181 readings @ 10Hz (38400) or 75Hz (500000).
  • range_res (integer)
    • Default: 10
    • Range resolution. Valid values are:
      • range_res 1 : 1mm precision, 8.192m max range.
      • range_res 10 : 10mm precision, 81.92m max range.
      • range_res 100 : 100mm precision, 819.2m max range.
  • invert (integer)
    • Default: 0
    • Is the laser physically inverted (i.e., upside-down)? Is so, scan data will be reversed accordingly.
  • 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).
Example
driver
(
  name "sicklms291"
  provides ["laser:0"]
  port "/dev/ttyS0"
  resolution 50   # Angular resolution .05 degree (361 readings @ 10Hz)
  range_res 10     # Range resolution 1 cm (maximum range 81.92m)

  invert 1 #currently mounted upside down on STAIR
)
Authors
Jingshen Jimmy Zhang
Generated on Tue Jan 10 17:29:20 2006 for Stanford AI Robot (STAIR) by doxygen1.2.17