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Interface with SICK LMS-1xx series LIDAR sensors with openFrameworks

License: Other

C++ 100.00%

ofxsick's Introduction

ofxSick is an addon for openFrameworks to interface with SICK laser measurement systems.

ofxSick is written for the SICK LMS1xx series, and tested against the LMS111. The LMS1xx datasheet is available here.

LMS1xx Library

The basic interface protocol is implemented by Konrad Banachowicz' LMS1xx library. Because the library uses sockets, it maybe not be possible to compile on non-POSIX systems like Windows.

Some major modifications have been made to the LMS1xx::getData() method in the LMS1xx library in order to support unusual packet fragmentation and unpredictable latency on OSX 10.8.

Remission and Second Returns

Due to packet fragmentation and unpredictable latency on OSX 10.8, the bandwidth of the data returned by the LMS1xx has been reduced significantly in order to avoid errors. This is done by disabling remission (brightness) and second returns (half-reflected pulses). Right now this can be tweaked by modifying the targetDataCfg inside ofxSickGrabber::connect().

ofxSickGrabber and ofxSickPlayer

The main ofxSick class implements the shared features of grabbing and playing LIDAR data. The main example/ shows a very simple case of using the ofxSickGrabber, and the example-blobs/ shows how to switch between grabbing and playback. example-blobs/ also works with ofxCv to do blob detection on objects in the scene.

ofxsick's People

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buenoishere zebradog imclab jhurlbut i33n carlesgutierrez danieltak

ofxsick's Issues

properly deal with the startAngle and stopAngle

you can manually set the startAngle and stopAngle when scanning, and this should be used both during the initialization and during the polar to cartesian conversion.

connect() never finishes if lms is off

you can check whether the lms is on by pinging it, so ofxSick should do this before calling connect().

Problem with 3 or more LMS

I have a problem when connecting 3 LMS100 together. After a while (10-30s) it stops reading data from the socket. Sometime only 1 LMS is still working and the other 2 are freezed. Then it will also freeze. If I use the stdparser version it doesn't crash the application, it just doesn't update the point cloud. If I use the master version it crashes in one of the laser thread.

I have no problem with only 2 LMS out of 3 (any combination).

The strange thing is that it seems to be also linked to which window is on top. If I launch the software and everything work and then I just switch back to XCode and back again to my software, the LMS will certainly freeze.

I narrowed down where the communication doesn't work:
In stdparser version: It receives a LMS_STATE_STX command in LMSParser.cpp but then I have an unknown command line 63-65. So I stay in the while(true) loop line 262 in LMS1xx.cpp
In master version: It crashes line 450 on sscanf(tok, "%X", &dat) in LMS1xx.cpp

Has anyone tried 3 sensors together with this addon?

label clusters persistently

using ofxCv::Tracker https://github.com/kylemcdonald/ofxCv/blob/master/libs/ofxCv/include/ofxCv/Tracker.h

data retrieval needs to be threaded

otherwise, if there is a very long pause in reading the data, the sensor will need to be restarted.
this decouples the update rate of the app from the update rate of the sensor (which is currently blocking the app)

Typo in scandatacfg Telegram

libs/LMS1xx.cpp, line 176:

"sWN LMDscandatacfg", cfg.outputChannel, cfg.remission ? 1 : 0,

should be:

"sMN LMDscandatacfg", cfg.outputChannel, cfg.remission ? 1 : 0,

Telegrams beginning with "sWN" are undefined according to the Developer's Guide I'm looking at.

When I make this change, our LMS500 returns an sFA 1 error code rather than nothing at all. Onward to the next breakpoint!

startup should be faster

i think if you aren't changing the scan settings, then startup should be almost instant.

lms status messages should be clearer

i'm not sure what status 3, or status 4 actually "means". but it's not clear from the documentation either.