Class CHokuyoURG

Defined in File CHokuyoURG.h

Nested Relationships

Nested Types

Struct CHokuyoURG::TSensorInfo

Inheritance Relationships

Base Type

public mrpt::hwdrivers::C2DRangeFinderAbstract (Class C2DRangeFinderAbstract)

Class Documentation

class CHokuyoURG : public mrpt::hwdrivers::C2DRangeFinderAbstract 

This software driver implements the protocol SCIP-2.0 for interfacing HOKUYO URG/UTM/UXM/UST laser scanners (USB or Ethernet). Refer to the example code HOKUYO_laser_test and to example rawlog-grabber config files

See also the application “rawlog-grabber” for a ready-to-use application to gather data from the scanner.

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
   HOKUYO_motorSpeed_rpm=600
   #HOKUYO_HS_mode   = false    // Optional (un-comment line if used):
Set/unset the High-sensitivity mode (not on all models/firmwares!)

   # Uncomment serial port or IP address, depending on the Hokuyo model
(serial/USB vs. Ethernet):
   COM_port_WIN = COM3       // Serial port name in Windows
   COM_port_LIN = ttyS0      // Serial port name in GNU/Linux
   #IP_DIR  =   192.168.0.10 // Uncommented this and "PORT_DIR" if the
used HOKUYO is connected by Ethernet instead of USB
   #PORT_DIR = 10940         // Default value: 10940

   pose_x=0.21  // Laser range scaner 3D position in the robot (meters)
   pose_y=0
   pose_z=0.34
   pose_yaw=0   // Angles in degrees
   pose_pitch=0
   pose_roll=0

   #disable_firmware_timestamp = true   // Uncomment to use PC time instead
of laser time

   # Optional: reduced FOV:
   # reduced_fov  = 25 // Deg

   # Sets decimation of scans directly at the Hokuyo scanner.
   # 0=means send all scans, 1=means send 50% of scans, etc.
   # scan_interval = 0

   # Overrides communication timeout [milliseconds]
   # comms_timeout_ms = 100

   #preview = true // Enable GUI visualization of captured data

   # Optional: Exclusion zones to avoid the robot seeing itself:
   #exclusionZone1_x = 0.20 0.30 0.30 0.20
   #exclusionZone1_y = 0.20 0.30 0.30 0.20

   # Optional: Exclusion zones to avoid the robot seeing itself:
   #exclusionAngles1_ini = 20  // Deg
   #exclusionAngles1_end = 25  // Deg

Public Functions

CHokuyoURG(): Constructor

~CHokuyoURG() override: Destructor: turns the laser off

virtual void doProcessSimple(bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError) override: Specific laser scanner “software drivers” must process here new data from the I/O stream, and, if a whole scan has arrived, return it. This method will be typically called in a different thread than other methods, and will be called in a timely fashion.

virtual bool turnOn() override

Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated.

Returns:: If everything works “true”, or “false” if there is any error.

virtual bool turnOff() override

Disables the scanning mode (this can be used to turn the device in low energy mode, if available)

Returns:: If everything works “true”, or “false” if there is any error.

void purgeBuffers(): Empties the RX buffers of the serial port

inline void setSerialPort(const std::string &port_name): If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.

inline void setIPandPort(const std::string &ip, const unsigned int &port): Set the ip direction and port to connect using Ethernet communication

inline const std::string getSerialPort()

Returns the currently set serial port