SICK Laser Range Finder

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Robotics Common: Robotics Common Overview

Microsoft Robotics Developer Studio

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SICK Laser Range Finder

The SICK® Laser Range Finder service interfaces with a Sick LMS200 series laser range finder (LRF)

This sample is provided in the C# language. You can find the project files for this sample at the following location under the Microsoft Robotics Developer Studio installation folder:

Samples\Sensors\SickLRF

Prerequisites

Hardware

This sample requires a SICK® LMS200 series laser range finder, connected to the Host PC via a serial connection.

Software

You will also need Microsoft Internet Explorer or another conventional web browser.

Overview

This service demonstrates how to interface to a SICK laser range finder over a serial port.

It configures the LRF to run in continuous monitoring mode, performing 180 degree sweeps at 0.5 degree intervals at the maximum data rate available.

Each time the LRF reports a complete sweep to the service, the service raises a Replace notification containing the LRF data.

This service also supports viewing the LRF data via HTTP. On a DSS node running on HTTP port 50000, the uri https://localhost:50000/sicklrf will present the raw xml representation of the service state, which includes the LRF measurements.

Visiting https://localhost:50000/sicklrf/cylinder will present a cylindrical projection of the LRF data, while visiting https://localhost:50000/sicklrf/top will present a "top-down" view of the LRF data.

Robotics Common: Robotics Common Overview

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