LaserScanner2dSickCarmen
[LaserScanner2d drivers, C++, Linux]

A wrapper for project-Carmen implementation for SICK lasers. More...

A wrapper for project-Carmen implementation for SICK lasers.

Drives real laser hardware, directly connected to the computer. Uses Carmen's SICK laser implementation (see the Carmen website). This driver works robustly and can be configured with different baud rates.

Dependencies.

• libIceUtil (for timing)

Limitations

This is a Linux-only implementation. Does NOT work with kernel 2.6.17 producing this message (use dmesg) "laser2d sets custom speed on ttyS3. This is deprecated." Google search indicates that it's a known kernel issue which currently has no solution. A new method of setting custom serial speed will be introduced in future kernels at which point we'll try to convert our code.

Configuration

• SickCarmen.Device (string)
  • The unix device to use
  • Default: "/dev/ttyS0"
• SickCarmen.LaserType (string)
  • Valid Values: {"LMS","PMS"}
  • Default: "LMS"
• SickCarmen.Baudrate (int) [bps]
  • Valid Values: { 9600, 19200, 38400, 500000 }
  • Default: 38400