Ulmsserver
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(→Configurations) |
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Typical configuration could be: | Typical configuration could be: | ||
| − | ==== | + | ====ulmsserver.ini for MRC script==== |
| − | + | server datapath="/vhome/jca/logfiles" | |
| − | -- | + | server port=24919 |
| + | # for laser devices | ||
| + | module load='laserpool' | ||
| + | # handling of (server-global) configuration values | ||
| + | module load='var' | ||
| + | # load coordinate system plug-in | ||
| + | module load=odoPose | ||
| + | # make logfile for odometry updates (odoPose.log in datapath) | ||
| + | odopose log | ||
| + | # Configure laser scanner devices | ||
| + | scanset devtype='urg' devname="/dev/ttyACM0" | ||
| + | scanset def=urg | ||
| + | scanset x=0.22 y=0.0 z=0.05 | ||
| + | scanset width=180 | ||
| + | scanset logOpen | ||
| + | scanset log=1 | ||
| + | |||
| − | + | This loads the needed modules for laserscanner and odometry support | |
| + | Logfiles are placed in the path specified by ''datapath'' | ||
| − | + | The data from the URG laserscanner is saved in a logfile (the last 2 lines). | |
| − | + | The filename will be ''laser_0.log''. | |
| + | ====ulmsserver for HAKO tractor==== | ||
| + | server datapath="/rhome/demo/log_laser" | ||
| + | server serverlog | ||
| + | # | ||
| + | module load='laserpool' | ||
| + | module load='var' | ||
| + | module load='imagepool' | ||
| + | module load='v360' | ||
| + | module load=odoPose | ||
| + | module load=utmPose | ||
| + | module load=mapPose | ||
| + | var mappose.estimateVel=true | ||
| + | mapPose log | ||
| + | # | ||
| + | scanset devtype='sick' devname="/dev/ttyUSB0" | ||
| + | scanset def=sick | ||
| + | scanset res=0.5 | ||
| + | # set scanner position in robot coordinates | ||
| + | scanset x=2.07 y=0.0 z=0.52 | ||
| + | scanset mirror=false | ||
| + | scanset logOpen | ||
| + | scanset log=4 | ||
==laser scan logfile== | ==laser scan logfile== | ||
Revision as of 14:21, 20 October 2010
Contents |
Introduction
The laser scanner server (ulmsserver) has a number of statically linked modules for operation as a laser scanner server. It should be used primarily for plug-ins that are related to laser scanner data, but is able to handle any plugin (except some specific camera aware plugins that need the camera server environment).
Configurations
Typical configuration could be:
ulmsserver.ini for MRC script
server datapath="/vhome/jca/logfiles" server port=24919 # for laser devices module load='laserpool' # handling of (server-global) configuration values module load='var' # load coordinate system plug-in module load=odoPose # make logfile for odometry updates (odoPose.log in datapath) odopose log # Configure laser scanner devices scanset devtype='urg' devname="/dev/ttyACM0" scanset def=urg scanset x=0.22 y=0.0 z=0.05 scanset width=180 scanset logOpen scanset log=1
This loads the needed modules for laserscanner and odometry support Logfiles are placed in the path specified by datapath
The data from the URG laserscanner is saved in a logfile (the last 2 lines). The filename will be laser_0.log.
ulmsserver for HAKO tractor
server datapath="/rhome/demo/log_laser" server serverlog # module load='laserpool' module load='var' module load='imagepool' module load='v360' module load=odoPose module load=utmPose module load=mapPose var mappose.estimateVel=true mapPose log # scanset devtype='sick' devname="/dev/ttyUSB0" scanset def=sick scanset res=0.5 # set scanner position in robot coordinates scanset x=2.07 y=0.0 z=0.52 scanset mirror=false scanset logOpen scanset log=4
laser scan logfile
Filename for laser 0 is
laser_0.log
The file looks like this
1216815130.160302 25905 0.5 -90 361 5.789 5.782 5.806 5.776 7.619 7.810 7.931 5.803 5.793 ... 1216815130.213813 25907 0.5 -90 361 5.751 5.767 5.777 5.774 5.785 5.784 7.854 7.370 5.795 ... 1216815130.267325 25909 0.5 -90 361 7.628 8.130 5.770 5.780 5.755 5.787 5.802 5.793 7.828 ...
The fields are:
1 Timestamp (linux timestamp, valid to about 20ms) 2 scan number (e.g. 25909), 3 resolution (here 0.5 degree), 4 first angle (e.g. -90 degree), 5 number of measurements (e.g. 361), 6 first range (5.789 in meters), 7 second range (5.782) 8 ... and so forth.
