Installation

Download

To get the source code from the SVN repository :

$ svn co https://devel.hds.utc.fr/svn/pacpussensors/trunk/

It creates a folder named "trunk" containing the code source of every available plugin.

Compilation

First, make sure the CMakeList.txt at the root of the directory is well configured (into trunk/). In order to install the Sick plugin, modify the file and verify you have the following line :

add_subdirectory(Sick)

Then we need to configure the installation :

$ export PACPUS_ROOT=/opt/pacpus/0.0.2 # Pacpus Framework path
$ cd trunk/build/ # first go into the build folder
$ cmake ..

Now we can compile and install :

$ sudo make install

Configuration

XML

Depending on used sensors and how many, you should define these three property in a "Sick" node (X must start from ’0’) :

• sickldmrs_X
• sicklms151_X
• sicklms511_X

For example, let’s say we have two Sick LMS151, one LDMRS and one LMS511 :

<?xml version="1.0" encoding="ISO-8859-1"?>
<pacpus>
        <components>
        <Sick type="SickComponent" 
sickldmrs_0="192.168.0.1:12002" sickldmrs_0_recording="1" 
sicklms151_0="192.168.0.10:2111" sicklms151_0_recording="1" 
sicklms151_1="192.168.0.11:2111" sicklms151_1_recording="1" 
sicklms511_0="192.168.0.50:2111" sicklms511_0_recording="1" />
    </components>
    <parameters>
        <plugins list="libSick.so" />
    </parameters>
</pacpus>

Execution