README

opensw

Open source client SDK for communicating with SlamTec Slamware devices such as the M2M1 mapper over ethernet.

An official SDK is available, but appears to be closed source.

Note: For the standalone SlamTec lidar devices, an existing open source driver is already available: rplidar_ros, but this uses a different protocol than the mapper devices.

Currently, the interface is only partially implemented to expose the lidar scan and IMU data as well as some of the mapping data. More of the interface provided by the official SDK can be easily added, as needed, since the protocol is straightforward JSON over TCP. These additional interfaces appear to support their robotic platforms, which use the same protocol.

Build Dependencies

asio for TCP communication
asyncapi_gencpp for json protocol serialization/deserialization code generation from an asyncapi style spec file.
eigen for some datatypes
gtest for unit testing
opencv for some datatypes
spdlog for formatted logging

Supported Commands

GetImuInRobotCoordinate: Gets IMU sensor data
GetKnownArea: Gets the current bounds of a map
GetLaserScan: Gets laser scan data
GetLocation: Gets the current location estimate
GetMapData: Gets raw map data
GetPose: Gets the current pose estimate
GetRobotHealth: Gets device health status data
GetSpdVersion: Gets version information
GetSystemResource: Gets system information

Example Usage:

#include <opensw/client.h>

int main(int argc, char **argv) {

  opensw::Client client;
  if (client.connect("192.168.11.11", 1445, 500)) {
    auto scan = client.getLaserScan();
  }
}

ROS Support

This library is agnostic to ROS, but is packaged to work in a ROS1 or ROS2 workspace.

See opensw_ros for a simple ROS laser scan and IMU driver built by wrapping this SDK.