INTRODUCTION Overview Download and Install Documentation Publications REPOSITORY Libraries DEVELOPER Dev Guide Dashboard PEOPLE Contributors Users Project Download Mailing lists

GbxSickAcfr [Libraries, Hardware Drivers, C++, Linux] ACFR driver for SICK laser range-finder. More... 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.

---