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Release 1.8.0 with support for field montoring TiM7xxS
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| # Extensions for TiM7xxS | ||
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| The TiM7xxS family has the following extended settings for field monitoring: | ||
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| ## Field monitoring messages | ||
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| TiM7xxS scanner support field monitoring. Fields can be configured by Sopas ET. Once they are configured, sick_scan publishes ros messages containing the monitoring information from the lidar. | ||
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| By default, field monitoring is enabled in the launch file [sick_tim_7xxS.launch](../launch/sick_tim_7xxS.launch) by following settings: | ||
| ``` | ||
| <param name="activate_lferec" type="bool" value="True"/> <!-- activate field monitoring by lferec messages --> | ||
| <param name="activate_lidoutputstate" type="bool" value="True"/> <!-- activate field monitoring by lidoutputstate messages --> | ||
| <param name="activate_lidinputstate" type="bool" value="True"/> <!-- activate field monitoring by lidinputstate messages --> | ||
| ``` | ||
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| The driver queries the field configuration from the lidar and activates field monitoring by sending cola commands `"sEN LFErec 1"` and `"sEN LIDoutputstate 1"` at startup. Field monitoring is deactivated when driver exits. During runtime, it's possible to query, activate or deactivate monitoring using ros service ColaMsg with the following command (see section [Cola commands](#cola-commands)): | ||
| ``` | ||
| rosservice call /sick_tim_7xx/ColaMsg "{request: 'sEN LFErec 1'}" # activate LFErec messages | ||
| rosservice call /sick_tim_7xx/ColaMsg "{request: 'sEN LFErec 0'}" # deactivate LFErec messages | ||
| rosservice call /sick_tim_7xx/ColaMsg "{request: 'sRN LFErec'}" # query activation status of LFErec messages | ||
| rosservice call /sick_tim_7xx/ColaMsg "{request: 'sEN LIDoutputstate 1'}" # activate LIDoutputstate messages | ||
| rosservice call /sick_tim_7xx/ColaMsg "{request: 'sEN LIDoutputstate 0'}" # deactivate LIDoutputstate messages | ||
| rosservice call /sick_tim_7xx/ColaMsg "{request: 'sRN LIDoutputstate'}" # query activation status of LIDoutputstate messages | ||
| rosservice call /sick_tim_7xx/ColaMsg "{request: 'sEN LIDinputstate 1'}" # activate LIDinputstate messages | ||
| rosservice call /sick_tim_7xx/ColaMsg "{request: 'sEN LIDinputstate 0'}" # deactivate LIDinputstate messages | ||
| rosservice call /sick_tim_7xx/ColaMsg "{request: 'sRN LIDinputstate'}" # query activation status of LIDinputstate messages | ||
| ``` | ||
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| LFErec and LIDoutputstate messages are defined in [LFErecMsg.msg](../msg/LFErecMsg.msg) and [LFErecFieldMsg.msg](../msg/LFErecFieldMsg.msg) resp. [LIDoutputstateMsg.msg](../msg/LIDoutputstateMsg.msg) and published on topics `"/sick_tim_7xxS/lferec"` resp. `"/sick_tim_7xxS/lidoutputstate"`. | ||
| To view the field monitoring messages, run | ||
| ``` | ||
| rostopic echo "/sick_tim_7xxS/lferec" | ||
| rostopic echo "/sick_tim_7xxS/lidoutputstate" | ||
| ``` | ||
| or use rviz to visualize monitored fields and their status (see section [Visualization with rviz](#visualization-with-rviz)) | ||
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| The most important values of the field monitoring messages are | ||
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| - `field_index` (uint8) and `field_result_mrs` (uint8) for each field of a LFErec message with result status<br/><ul> | ||
| <li>0: invalid / incorrect,</li> | ||
| <li>1: free / clear, or</li> | ||
| <li>2: infringed.</li> | ||
| </ul> | ||
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| - `output_state` (uint8) for each LIDoutputstate message with status 0 (not active), 1 (active) or 2 (not used). | ||
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| Note: Field monitoring currently supports binary cola messages only, which is the default. If cola ascii is activated, please switch back to cola binary for field monitoring. | ||
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| ## Visualization with rviz | ||
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| The point cloud, the monitored fields and their status can be visualized using rviz. Use the [rviz configuration file](../test/emulator/config/rviz_emulator_cfg.rviz) | ||
| and run | ||
| ``` | ||
| rosrun rviz rviz -d ./src/sick_scan/test/emulator/config/rviz_emulator_cfg.rviz | ||
| ``` | ||
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| Otherwise you can just add visualizations of type `/cloud/PointCloud2` and `/sick_tim_7xxS/marker`: | ||
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|  | ||
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| The following screenshot shows an example with 2 fields (the 3. field is not configured), the first field with status "Clear", the second with status "Infringed": | ||
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|  | ||
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| Note: Some combinations of rviz, OpenGL 3, VMware and graphic card drivers may cause visualization issues. In case of missing markers, try rviz with Open GL 2 using the command | ||
| ``` | ||
| rosrun rviz rviz -d ./src/sick_scan/test/emulator/config/rviz_emulator_cfg.rviz --opengl 210 | ||
| ``` | ||
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| ## Cola commands | ||
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| Cola commands can be sent for diagnosis and development using the ros service ColaMsg. This service is implemented in sick_scan and started by | ||
| ``` | ||
| <param name="start_services" type="bool" value="True"/> | ||
| ``` | ||
| in the launch file [sick_tim_7xxS.launch](../launch/sick_tim_7xxS.launch). The ros service sends the given cola command to the lidar and returns its response. | ||
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| Example for cola command `"sRN SCdevicestate"` and response `"sRA SCdevicestate \\x00"` with error status 0 (no error): | ||
| ``` | ||
| rosservice call /sick_tim_7xx/ColaMsg "{request: 'sRN SCdevicestate'}" | ||
| response: "sRA SCdevicestate \\x00" | ||
| ``` | ||
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| ## Tools, emulation and unittests | ||
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| Package sick_scan implements some tools to support unittests, development and emulation of Tim781S devices: | ||
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| - sick_scan_emulator to emulate lidar devices and enable unittests (currently for Tim781S only) | ||
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| - pcap_json_converter to convert pcapng-files to json. | ||
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| ### TiM781S emulation | ||
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| sick_scan_emulator implements a simple test server for cola commands. It rececives Cola-commands, returns Tim781S-like responses and sends Scandata from a json-file. Run | ||
| ``` | ||
| roslaunch sick_scan emulator.launch | ||
| ``` | ||
| to emulate a local Tim781S device. Then start and connect the sick_scan driver by | ||
| ``` | ||
| roslaunch sick_scan sick_tim_7xxS.launch hostname:=127.0.0.1 | ||
| ``` | ||
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| Note that sick_scan_emulator just implements a simple server for offline tests. It does not emulate a lidar device completely and should only be used for development and testing. | ||
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| Scandata messages are parsed from json-file(s). These json-files are configured in the launch file [emulator.launch](../test/emulator/launch/emulator.launch) and converted form wireshark-records (pcapng-files) using pcap_json_converter.py (see section Pcapng converter tool](#pcapng-converter-tool)). | ||
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| ### Unittests | ||
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| Folder `test/emulator/scandata` contains scandata examples for unittests. To run an offline unittest for TiM781S enter the following commands: | ||
| ``` | ||
| cd test/scripts | ||
| ./run_simu_tim781s.bash | ||
| ``` | ||
| or start emulator, driver and rviz by running | ||
| ``` | ||
| source ./install/setup.bash | ||
| # Start sick_scan emulator | ||
| roslaunch sick_scan emulator.launch & | ||
| sleep 1 | ||
| # Start rviz | ||
| rosrun rviz rviz -d ./src/sick_scan/test/emulator/config/rviz_emulator_cfg.rviz --opengl 210 & | ||
| sleep 1 | ||
| # Start sick_scan driver for TiM871S | ||
| roslaunch sick_scan sick_tim_7xxS.launch hostname:=127.0.0.1 | ||
| ``` | ||
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| ### Pcapng converter tool | ||
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| The pcapng converter tool [pcap_json_converter.py](../test/pcap_json_converter/pcap_json_converter.py) converts pcapng-files to json-files. Run the following steps to create a json-file with scandata for the emulator: | ||
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| 1. Start wireshark and filter the tcp traffic on port 2112 with the filter expression `tcp and tcp.port==2112`. | ||
| 2. Start TiM781S and run the sick_scan driver. | ||
| 3. Capture the network traffic for some time. | ||
| 4. Stop capturing and save the network traffic in a pcapng-file. | ||
| 5. Convert the pcapng-file to json by `python pcap_json_converter.py --pcap_filename=<filepath>.pcapng`. Result is a jsonfile `<filepath>.pcapng.json` | ||
| 6. Set the resulting json-file in the emulator configuration [emulator.launch](../test/emulator/launch/emulator.launch) by `<arg name="scandatafiles" default="<filepath>.pcapng.json"/>` |
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