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Sensor Client for Sick Lidars

whisker_client_lidar_sick

This component obtains range data from 2D lidars manufactured by SICK AG using the CoLa A protocol. It assumes the data packet format is produced from a lidar with factory default settings.

Supported Platforms

Linux (GCC, Clang), macOS (Xcode Clang), Windows (MSVC)

Command Line Options

  • --config=[config file path]
    • Use JSON configuration file at the given path (default: config.json in current directory)
  • --id=[client ID]
    • Specify the vehicle-wide unique ID used to identify this component to the server (default: sick0)

Configuration

This example config is available at /config/config.json. Note the use of client ID as the configuration object's key.

// config.json
{
  "vehicle": {
    // ...
    "clients": {
      "sick0": {
        "address": "192.168.0.1",
        "port": 2111,
        "rotates_clockwise": false,
        "angle_offset": 90,
        "position": {
          "x": 0,
          "y": 0,
          "r": 0
        }
      }
    }
  }
}
Key Type
address string IP or hostname of lidar
port number Port on lidar that is using the CoLa A protocol
rotates_clockwise boolean Whether the lidar is sweeping in a clockwise direction
angle_offset number Angle in degrees that the lidar considers to be the front of the sensor
x number X offset in meters of center of sensor away from center of vehicle 1
y number Y offset in meters of center of sensor away from center of vehicle 1
r number Rotation in degrees of front of sensor away from front of vehicle 1

1 Transforms in Whisker are expressed as (when viewed from above): +x towards front of vehicle, +y towards left of vehicle, +r counterclockwise with 0 at front of vehicle