Class CSickLaserSerial

Inheritance Relationships

Base Type

Class Documentation

class CSickLaserSerial : public mrpt::hwdrivers::C2DRangeFinderAbstract

This “software driver” implements the communication protocol for interfacing a SICK LMS 2XX laser scanners through a standard RS232 serial port (or a USB2SERIAL converter). The serial port is opened upon the first call to “doProcess” or “initialize”, so you must call “loadConfig” before this, or manually call “setSerialPort”. Another alternative is to call the base class method C2DRangeFinderAbstract::bindIO, but the “setSerialPort” interface is probably much simpler to use.

For an example of usage see the example in “samples/SICK_laser_serial_test”. See also the example configuration file for rawlog-grabber in “share/mrpt/config_files/rawlog-grabber”.

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
  COM_port_WIN = COM1   // Serial port to connect to
  COM_port_LIN = ttyS0

  COM_baudRate = 38400 // Possible values: 9600 (default), 38400, 5000000
  mm_mode      = 1/0   // 1: millimeter mode, 0:centimeter mode (Default=0)
  FOV          = 180   // Field of view: 100 or 180 degrees (Default=180)
  resolution   =  50   // Scanning resolution, in units of 1/100 degree.
Valid values: 25,50,100 (Default=50)
  //skip_laser_config  = true // (Default:false) If true, doesn't send the
initialization commands to the laser and go straight to capturing

  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

   //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

See also

C2DRangeFinderAbstract

Public Functions

CSickLaserSerial()

Constructor

~CSickLaserSerial() override

Destructor

inline void setSerialPort(const std::string &port)

Changes the serial port to connect to (call prior to ‘doProcess’), for example “COM1” or “ttyS0”. This is not needed if the configuration is loaded with “loadConfig”.

inline std::string getSerialPort() const

See also

setSerialPort

inline void setBaudRate(int baud)

Changes the serial port baud rate (call prior to ‘doProcess’); valid values are 9600,38400 and 500000. This is not needed if the configuration is loaded with “loadConfig”.

See also

getBaudRate

inline int getBaudRate() const

See also

setBaudRate

inline void setMillimeterMode(bool mm_mode = true)

Enables/Disables the millimeter mode, with a greater accuracy but a shorter range (default=false) (call prior to ‘doProcess’) This is not needed if the configuration is loaded with “loadConfig”.

inline void setScanFOV(int fov_degrees)

Set the scanning field of view - possible values are 100 or 180 (default) (call prior to ‘doProcess’) This is not needed if the configuration is loaded with “loadConfig”.

inline int getScanFOV() const
inline void setScanResolution(int res_1_100th_degree)

Set the scanning resolution, in units of 1/100 degree - Possible values are 25, 50 and 100, for 0.25, 0.5 (default) and 1 deg. (call prior to ‘doProcess’) This is not needed if the configuration is loaded with “loadConfig”.

inline int getScanResolution() const
inline unsigned int getCurrentConnectTry() const

If performing several tries in ::initialize(), this is the current try loop number.

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 void initialize() override

Set-up communication with the laser. Called automatically by rawlog-grabber. If used manually, call after “loadConfig” and before “doProcess”.

In this class this method does nothing, since the communications are setup at the first try from “doProcess” or “doProcessSimple”.

virtual bool turnOn() override

Enables the scanning mode (in this class this has no effect).

Returns:

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

virtual bool turnOff() override

Disables the scanning mode (in this class this has no effect).

Returns:

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

Protected Functions

virtual void loadConfig_sensorSpecific(const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override

See the class documentation at the top for expected parameters