the steps I followed to setup the SICK PLS 101-312 scanner on ROS groovy are: create a workspace and clone the pls_wrapper into this directory as shown below. $ mkdir ~/sickplsws/src;cd The LMS 291 is very similar to the LMS 200, with measuring range out to 80m over a 180° arc. The full code can be found here: sickVBCode.zip We'll create a program that will record a scanned line every time you press a button. Specifically, look at the following code: CLng(buffData(i)) + CLng(buffData(i + 1)) * 256 This is where the distance is actually calculated from the two bytes that comprise the distance data. weblink
The data is imported in the form of range (distance to a measurement in mm) and angle (in degrees). As in the Sensor Head Log, if the errors go beyond 10, then the oldest one is overwritten. It is therefore important to remeber that you must always be sending and receiving BINARY data and not ASCII characters. Finally, the counter for the current angle is incremented and the counter for the buffer is incremented. https://www.mysick.com/saqqara/im0011885.pdf
Insert the cd into your cd drive and locate the file "INSTALL.EXE" (should be in a path such as D:\CD LMS2xx Version OB70\LMSIBS User Software_Benutzersoftware V5.11). At the top, hit the zoom out magnifying glass until you can see the 5000 mark on the grid. Your cache administrator is webmaster. NOTE: These are the decimal values!
Finally, add a label named "recordLabel" and change its caption to "Recording...". Operational Status ThisÂ shows you the real-time status of the scanner when you open this log. 2. The logÂ can also be saved as a PDF file and forwarded to SICKÂ Safety Applications SupportÂ for analysis. 4. Sick Scanner Troubleshooting Feed the wire through the connector as shown below: The cable can now be soldered to the back of the 9-pin connector.
This log can be used by end usersÂ to help troubleshoot scanner faults. And you should be able to see the data spread on the 2D plane of RVIZ. Data Recorder This tool allows you to view exactly what the scanner is currently viewing. http://answers.ros.org/question/194513/setting-up-a-tf-for-sick-laser-scanner-pls101-312/ Any object that breaks this fan reflects laser light back to the sensor.
You will now be prompted to log in. Sick S30a-4011ba Manual Now that you know how to get distance reading from the sensor, much more complicated codes can be created from field monitoring to collision avoidance for a robot. To grab data from the SICK, you must first send a start string to tell the sensor to start sending data. The system returned: (22) Invalid argument The remote host or network may be down.
Generated Tue, 06 Dec 2016 18:02:02 GMT by s_hp94 (squid/3.5.20) The data comes in packets that take the following form: For example, a packet of data might look like this: 2 128 214 2 176 105 65 79 23 76 23 Sick S3000 Error Codes In our case, since the sensor is set to scan 180° with resolution of 0.5°, the first data point sent will correspond to 0°, the next will correspond to 0.5°, the Sick Scanner S3000 Error Codes If you have questions about this tutorial you can email me at [email protected]
After about 15 seconds, these lights should change to a green light. have a peek at these guys Please try the request again. First we'll need a comm control for RS232 communications. Congratulations! Sick Pls101-312 Manual
Similar to the LMS sensors, the PLS 101 and 201 sweep a 180° arc out to 50m. Each distance measurement is sent in the form of two bytes. The connector with the male end is for communications. check over here Each data point is then plotted as a circle and connected with the previous data point by lines to generate a complete plot of the scan.
This command will take a while (assuming that you are connecting the laser at /dev/ttyUSB0 and with a baud of 38400). Sick S30a-6011ba Troubleshooting In the next window you can select how the sensor is configured. I could also see the stream of laser data using $ rostopic echo /scan My question here is, How can I view the laser scan data on rviz?
The Data Recorder is a great tool for diagnosing input/output errors by directly viewing the interaction of the inputs, warning/protective fields and outputs. Now you can begin scanning with the sensor. Please try the request again. Sick S3000 Default Password Check the box and click "OK".
Hi there! Start up VB6 and when prompted, begin a new "Standard EXE". When tried the /scan topic on rviz, I get an error saying that the frame for laser_scanner cannot be /world, the example here shows that it is being set to a http://softbb.net/error-codes/shimadzu-error-codes.html Please try the request again.
PROGRAMMING Before we begin programming, we need a crash course in communicating with the SICK. However, the PLS sensors have built in hardware that allows them to control machinery. You are then able to record the inputs, outputs, warning fields and protective fields of the scanner. Your screen should now look like this: Click "Next".
The default password is "SICK_LMS" (make sure all caps). If so,Â tell us in the comments below how they've helped you solve certain errors.Aaron Schulke Aaron is the national product specialist for safety laser scanners. However, the LMS 291 can see an object with 10% reflectivity out to 30m. You just performed your first scan with the SICK LMS 200.
The LMS 200 can easily be interfaced through RS-232 or RS-422, providing distance measurements over a 180 degree area up to 80 meters away. This code is the basics you need to grab data from the sensor. It contains information about the data being sent. He has been with SICK for four years, learning the industry and solving applications.
Through software, the user can define a protective field within the sensor's field of view. When transmitting data, it sends back streams of bytes corresponding to distance measurements at a given angle. Generated Tue, 06 Dec 2016 18:02:02 GMT by s_hp94 (squid/3.5.20) ERROR The requested URL could not be retrieved The following error was encountered while trying to retrieve the URL: http://0.0.0.7/ Connection