This software driver implements the protocol SCIP-2.0 for interfacing HOKUYO URG, UTM and UXM laser scanners.
Refer to the wiki page for more details: http://www.mrpt.org/Example:HOKUYO_URG/UTM_Laser_Scanner
See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.
PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS: ------------------------------------------------------- [supplied_section_name] HOKUYO_motorSpeed_rpm=600 //HOKUYO_HS_mode = false // Optional (un-comment line if used): Set/unset the High-sensitivity mode (not on all models/firmwares!) COM_port_WIN = COM3 COM_port_LIN = ttyS0 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 //IP_DIR = 192.168.0.10 // Uncommented this and "PORT_DIR" if the used HOKUYO is connected by Ethernet instead of USB //PORT_DIR = 10940 // Optional: reduced FOV: // reduced_fov = 25 // Deg // 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
Definition at line 70 of file CHokuyoURG.h.
#include <mrpt/hwdrivers/CHokuyoURG.h>
Classes | |
struct | TSensorInfo |
Used in CHokuyoURG::displayVersionInfo. More... | |
Public Member Functions | |
CHokuyoURG () | |
Constructor. | |
virtual | ~CHokuyoURG () |
Destructor: turns the laser off. | |
void | doProcessSimple (bool &outThereIsObservation, mrpt::slam::CObservation2DRangeScan &outObservation, bool &hardwareError) |
Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it. | |
bool | turnOn () |
Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated. | |
bool | turnOff () |
Disables the scanning mode (this can be used to turn the device in low energy mode, if available) | |
void | purgeBuffers () |
Empties the RX buffers of the serial port. | |
void | setSerialPort (const std::string &port_name) |
If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser. | |
void | setIPandPort (const std::string &ip, const unsigned int &port) |
Set the ip direction and port to connect using Ethernet communication. | |
const std::string | getSerialPort () |
Returns the currently set serial port. | |
void | setReducedFOV (const double fov) |
If called (before calling "turnOn"), the field of view of the laser is reduced to the given range (in radians), discarding the rest of measures. | |
bool | setHighSensitivityMode (bool enabled) |
Changes the high sensitivity mode (HS) (default: false) | |
void | setVerbose (bool enable=true) |
Protected Member Functions | |
bool | checkCOMisOpen () |
Returns true if there is a valid stream bound to the laser scanner, otherwise it first try to open the serial port "m_com_port". | |
void | loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection) |
Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CHokuyoURG for the possible parameters. | |
Protected Attributes | |
double | m_reduced_fov |
Used to reduce artificially the interval of scan ranges. | |
std::string | m_com_port |
If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser. | |
std::string | m_ip_dir |
If set to non-empty and m_port_dir too, the program will try to connect to a Hokuyo using Ethernet communication. | |
unsigned int | m_port_dir |
If set to non-empty and m_ip_dir too, the program will try to connect to a Hokuyo using Ethernet communication. | |
TSensorInfo | m_sensor_info |
The information gathered when the laser is first open. | |
bool | m_I_am_owner_serial_port |
uint32_t | m_timeStartUI |
Time of the first data packet, for synchronization purposes. | |
mrpt::system::TTimeStamp | m_timeStartTT |
Private Member Functions | |
bool | enableSCIP20 () |
Enables the SCIP2.0 protocol (this must be called at the very begining!). | |
bool | setHighBaudrate () |
Passes to 115200bps bitrate. | |
bool | switchLaserOn () |
Switchs the laser on. | |
bool | switchLaserOff () |
Switchs the laser off. | |
bool | setMotorSpeed (int motoSpeed_rpm) |
Changes the motor speed in rpm's (default 600rpm) | |
bool | displayVersionInfo () |
Ask to the device, and print to the debug stream, details about the firmware version,serial number,... | |
bool | displaySensorInfo (CHokuyoURG::TSensorInfo *out_data=NULL) |
Ask to the device, and print to the debug stream, details about the sensor model. | |
bool | startScanningMode () |
Start the scanning mode, using parameters stored in the object (loaded from the .ini file) After this command the device will start to send scans until "switchLaserOff" is called. | |
void | initialize () |
Turns the laser on. | |
bool | receiveResponse (const char *sentCmd_forEchoVerification, char &rcv_status0, char &rcv_status1, char *rcv_data, int &rcv_dataLength) |
Waits for a response from the device. | |
bool | assureBufferHasBytes (const size_t nDesiredBytes) |
Assures a minimum number of bytes in the input buffer, reading from the serial port only if required. | |
Private Attributes | |
int | m_firstRange |
int | m_lastRange |
The first and last ranges to consider from the scan. | |
int | m_motorSpeed_rpm |
The motor speed (default=600rpm) | |
poses::CPose3D | m_sensorPose |
The sensor 6D pose: | |
mrpt::utils::circular_buffer < uint8_t > | m_rx_buffer |
Auxiliary buffer for readings. | |
std::string | m_lastSentMeasCmd |
The last sent measurement command (MDXXX), including the last 0x0A. | |
bool | m_verbose |
bool | m_highSensMode |
High sensitivity [HS] mode (default: false) |
mrpt::hwdrivers::CHokuyoURG::CHokuyoURG | ( | ) |
Constructor.
virtual mrpt::hwdrivers::CHokuyoURG::~CHokuyoURG | ( | ) | [virtual] |
Destructor: turns the laser off.
bool mrpt::hwdrivers::CHokuyoURG::assureBufferHasBytes | ( | const size_t | nDesiredBytes ) | [private] |
Assures a minimum number of bytes in the input buffer, reading from the serial port only if required.
bool mrpt::hwdrivers::CHokuyoURG::checkCOMisOpen | ( | ) | [protected] |
Returns true if there is a valid stream bound to the laser scanner, otherwise it first try to open the serial port "m_com_port".
bool mrpt::hwdrivers::CHokuyoURG::displaySensorInfo | ( | CHokuyoURG::TSensorInfo * | out_data = NULL ) |
[private] |
Ask to the device, and print to the debug stream, details about the sensor model.
It also optionally saves all the information in an user supplied data structure "out_data".
bool mrpt::hwdrivers::CHokuyoURG::displayVersionInfo | ( | ) | [private] |
Ask to the device, and print to the debug stream, details about the firmware version,serial number,...
void mrpt::hwdrivers::CHokuyoURG::doProcessSimple | ( | bool & | outThereIsObservation, |
mrpt::slam::CObservation2DRangeScan & | outObservation, | ||
bool & | hardwareError | ||
) | [virtual] |
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.
Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
bool mrpt::hwdrivers::CHokuyoURG::enableSCIP20 | ( | ) | [private] |
Enables the SCIP2.0 protocol (this must be called at the very begining!).
const std::string mrpt::hwdrivers::CHokuyoURG::getSerialPort | ( | ) | [inline] |
Returns the currently set serial port.
Definition at line 155 of file CHokuyoURG.h.
void mrpt::hwdrivers::CHokuyoURG::initialize | ( | ) | [private, virtual] |
Turns the laser on.
Reimplemented from mrpt::hwdrivers::CGenericSensor.
void mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific | ( | const mrpt::utils::CConfigFileBase & | configSource, |
const std::string & | iniSection | ||
) | [protected, virtual] |
Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CHokuyoURG for the possible parameters.
Implements mrpt::hwdrivers::CGenericSensor.
void mrpt::hwdrivers::CHokuyoURG::purgeBuffers | ( | ) |
Empties the RX buffers of the serial port.
bool mrpt::hwdrivers::CHokuyoURG::receiveResponse | ( | const char * | sentCmd_forEchoVerification, |
char & | rcv_status0, | ||
char & | rcv_status1, | ||
char * | rcv_data, | ||
int & | rcv_dataLength | ||
) | [private] |
Waits for a response from the device.
bool mrpt::hwdrivers::CHokuyoURG::setHighBaudrate | ( | ) | [private] |
Passes to 115200bps bitrate.
bool mrpt::hwdrivers::CHokuyoURG::setHighSensitivityMode | ( | bool | enabled ) |
Changes the high sensitivity mode (HS) (default: false)
void mrpt::hwdrivers::CHokuyoURG::setIPandPort | ( | const std::string & | ip, |
const unsigned int & | port | ||
) | [inline] |
Set the ip direction and port to connect using Ethernet communication.
Definition at line 152 of file CHokuyoURG.h.
bool mrpt::hwdrivers::CHokuyoURG::setMotorSpeed | ( | int | motoSpeed_rpm ) | [private] |
Changes the motor speed in rpm's (default 600rpm)
void mrpt::hwdrivers::CHokuyoURG::setReducedFOV | ( | const double | fov ) | [inline] |
If called (before calling "turnOn"), the field of view of the laser is reduced to the given range (in radians), discarding the rest of measures.
Call with "0" to disable this reduction again (the default).
Definition at line 160 of file CHokuyoURG.h.
void mrpt::hwdrivers::CHokuyoURG::setSerialPort | ( | const std::string & | port_name ) | [inline] |
If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.
Definition at line 149 of file CHokuyoURG.h.
void mrpt::hwdrivers::CHokuyoURG::setVerbose | ( | bool | enable = true ) |
[inline] |
Definition at line 167 of file CHokuyoURG.h.
bool mrpt::hwdrivers::CHokuyoURG::startScanningMode | ( | ) | [private] |
Start the scanning mode, using parameters stored in the object (loaded from the .ini file) After this command the device will start to send scans until "switchLaserOff" is called.
bool mrpt::hwdrivers::CHokuyoURG::switchLaserOff | ( | ) | [private] |
Switchs the laser off.
bool mrpt::hwdrivers::CHokuyoURG::switchLaserOn | ( | ) | [private] |
Switchs the laser on.
bool mrpt::hwdrivers::CHokuyoURG::turnOff | ( | ) | [virtual] |
Disables the scanning mode (this can be used to turn the device in low energy mode, if available)
Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
bool mrpt::hwdrivers::CHokuyoURG::turnOn | ( | ) | [virtual] |
Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated.
Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
std::string mrpt::hwdrivers::CHokuyoURG::m_com_port [protected] |
If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.
Definition at line 177 of file CHokuyoURG.h.
int mrpt::hwdrivers::CHokuyoURG::m_firstRange [private] |
Definition at line 48 of file CHokuyoURG.h.
bool mrpt::hwdrivers::CHokuyoURG::m_highSensMode [private] |
High sensitivity [HS] mode (default: false)
Definition at line 56 of file CHokuyoURG.h.
bool mrpt::hwdrivers::CHokuyoURG::m_I_am_owner_serial_port [protected] |
Definition at line 185 of file CHokuyoURG.h.
std::string mrpt::hwdrivers::CHokuyoURG::m_ip_dir [protected] |
If set to non-empty and m_port_dir too, the program will try to connect to a Hokuyo using Ethernet communication.
Definition at line 179 of file CHokuyoURG.h.
int mrpt::hwdrivers::CHokuyoURG::m_lastRange [private] |
The first and last ranges to consider from the scan.
Definition at line 48 of file CHokuyoURG.h.
std::string mrpt::hwdrivers::CHokuyoURG::m_lastSentMeasCmd [private] |
The last sent measurement command (MDXXX), including the last 0x0A.
Definition at line 53 of file CHokuyoURG.h.
int mrpt::hwdrivers::CHokuyoURG::m_motorSpeed_rpm [private] |
The motor speed (default=600rpm)
Definition at line 49 of file CHokuyoURG.h.
unsigned int mrpt::hwdrivers::CHokuyoURG::m_port_dir [protected] |
If set to non-empty and m_ip_dir too, the program will try to connect to a Hokuyo using Ethernet communication.
Definition at line 180 of file CHokuyoURG.h.
double mrpt::hwdrivers::CHokuyoURG::m_reduced_fov [protected] |
Used to reduce artificially the interval of scan ranges.
Definition at line 175 of file CHokuyoURG.h.
mrpt::utils::circular_buffer<uint8_t> mrpt::hwdrivers::CHokuyoURG::m_rx_buffer [private] |
Auxiliary buffer for readings.
Definition at line 51 of file CHokuyoURG.h.
The information gathered when the laser is first open.
Definition at line 183 of file CHokuyoURG.h.
The sensor 6D pose:
Definition at line 50 of file CHokuyoURG.h.
Definition at line 188 of file CHokuyoURG.h.
uint32_t mrpt::hwdrivers::CHokuyoURG::m_timeStartUI [protected] |
Time of the first data packet, for synchronization purposes.
Definition at line 187 of file CHokuyoURG.h.
bool mrpt::hwdrivers::CHokuyoURG::m_verbose [private] |
Definition at line 55 of file CHokuyoURG.h.
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