Ulmsserver

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.