GbxSickAcfr
[Libraries, Hardware Drivers, C++, Linux]

ACFR driver for SICK laser range-finder. More...

ACFR driver for SICK laser range-finder.

Drives SICK hardware, directly connected to the computer. For a full list of classes and functions, see gbxsickacfr.

Header file

#include <gbxsickacfr/driver.h>

Example

See test/test.cpp

Style

See http://orca-robotics.sourceforge.net/orca/orca_doc_style.html

Units and Coordinate System

See http://orca-robotics.sourceforge.net/orca/orca_doc_units.html

Copyright

Alex Brooks, Alexei Makarenko, Tobias Kaupp

Responsible Developer

Alex Brooks

License

LGPL

Dependencies

• libIceUtil (for timing/threads/mutexes), v.3.2 or newer (latest tested 3.3).
• libGbxSerialAcfr

Installation

• Finding libIceUtil
  • IceUtil will be found automatically if installed in one of several standard locations.
  • You can specify it's installation point with ICEUTIL_HOME CMake variable (or an environment variable with the same name). For example:

    $ cmake -DICEUTIL_HOME=/home/myuser/install .
    

Limitations

• This is a Linux-only implementation.
• It works with those serial devices which libGbxSerialAcfr supports.
• Currently, timestamps are generated whenever a full message arrives. This is sub-optimal, since the message may take a significant amount of time to be transmitted over the serial interface. eg. 181 samples at 38400 baud takes about 75ms. An improvement would be to timestamp the start of each message, remembering that timestamp for subsequent reads from the serial port until the end of the message finally arrives.
• Has been tested with: LMS-291, LMS-211.