Ulmsserver

Introduction

The laser scanner server (ulmsserver) if pre-configured for operation on laser scanner devices. It should be used primarily for plug-ins that uses laser scanner data.

The laserscanner server is configured with the laser device plugin (laserpool) and virtual 360 degree scanner (v360) as default. Other plugins must be loaded (e.g. in the ulmsserver.ini file.)

Configurations

Typical configuration could be:

Sensor server for MRC script

@todo --Jca 06:13, 25 April 2010 (UTC)

Sensor server for HAKO tractor

@todo --Jca 06:13, 25 April 2010 (UTC)

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.