Log Data From LMS 100

NOTE: TO GET THIS WORK, YOU HAVE TO HAVE ACCESS TO THE SVN REPOSITORY. NOT YET AVAILABLE IN THE RELEASE PACKET

Connect LMS100 sensor to GIMnet and access to service

To have all the needed libraries check that you have installed all the libraries found here

To have the source tree, check instructions here

GIMnet AP

To have GIMnet running, you need at least one GIMnet Access Point (GIMnetAP) running. To compile it go to 'GIM/src/GIMnetAP' and type

make

To run the access point in TCP port 40002 it type

./start_session master -p 40002

To have more complex GIMnet setups, go to GIMnetAP tutorial page.

Laser SICK LMS100 module

Module for the laser is in GIM/src/MaCI/modules/Ranging directory. To compile only this module:

make Ranging_SICK_LMS100

The module needs a configuration file, where you have to change at least the IP of the SICK LMS 111 laser scanner. A template of a configuration file for this device can be found at 'GIM/src/MaCI/conf/Ranging_SICK_LMS100.conf'. It is an xml-file where you have to change the value of the IP to be the right one. (For more specific information about modules and module configuration files)

To run the module, go to the GIM/src/MaCI/modules/Ranging directory directory and type

./Ranging_SICK_LMS100 -u localhost -p 40002 -G Machine -f ../../conf/Ranging_SICK_LMS100.conf

The '-u ' parameter is to define the address of the access point to connect, '-p' the port of the access point, '-G' is for defining the MaCI Group name(Machine name) where the module is belonging to and '-f' is for passing the configuration file.

Now, the laserscanner should be running and providing data to GIMnet.

GIMnet Browser

To see all the services in your GIMnet, there is a GIMnet browser named Gimbo. Go to 'GIM/src/Gimbo' directory and compile it by typing 'make'. To run it type

./Gimbo

Choose localhost for Hub and 40002 for port, you can leave 'own name' empty. Then press OK

When connected, you should see all the services running on the network. Now, there is one MaCI service running under the name of Machine. It is providing Ranging type of service and has an instance name SICK.

Visualising Ranging data

For visualising Ranging type of data there is a GUI component named MuRo. It is also intended for controlling machine(s) and visualising many other type of data. To open MuRo with the right services, select the MaCI_Ranging service on the left side (or the whole Machine), select MuRo on the right side and press Load

After a few seconds the window is open and the component has found all the services and ready to visualise the data

Logging data

There is another component for logging many different MaCI interface data. It's called MaCI_Logger. Select the wanted services to Log and select MaCI_Logger on the component list. Then press Load.

After a few seconds the window is open and the component has found all the services and ready to log data.

Select the services and press 'Start selected' or just press 'Start All'. Selected services should change color to green and the additional information shows how many meaasurements have been stored in the logfile. To stop logging, press 'Stop All'. Log files are stored in GIM/src/Gimbo/components/MaCI_Logger/data/ -directory.