Telegram Listing Lidar-LOC Lidar Localization Software

TECHNICAL INFORMATIO N Telegram Listing LiDAR-LOC LiDAR Localization Software

Product described LiDAR-LOC with localization controller and 2D LiDAR sensor

Manufacturer SICK AG Erwin-Sick-Str. 1 79183 Waldkirch Germany

Legal notes This work is protected by copyright. The associated rights are reserved by SICK AG. Reproduction of this document or parts of this document is only permissible within the limits of the legal provisions of copyright law. Any modification, abridgment, or translation of this document is prohibited without the express written permission of SICK AG. The trademarks mentioned in this document are the property of their respective owners. © SICK AG. All rights reserved.

Original document This document is an original document of SICK AG.

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Contents 1 About this document ...... 5 1.1 Function of this document ...... 5 2 LiDAR-LOC CoLa telegrams ...... 6 2.1 Example Start Sequence ...... 6 2.2 Switching states ...... 8 2.2.1 Command: IsSystemReady ...... 8 2.2.2 Command: LocState ...... 9 2.2.3 Command: LocStartLocalizing ...... 10 2.2.4 Command: LocStop ...... 11 2.2.5 Command: LocStopAndSave ...... 12 2.3 Basic configuration ...... 13 2.3.1 Command: DevSetLidarConfig...... 13 2.3.2 Command: DevSetIMUActive ...... 15 2.3.3 Command: LocSetMap ...... 16 2.3.4 Command: LocInitializePose ...... 17 2.3.5 Command: LocSetPose ...... 18 2.3.6 Command: LocForceUpdate ...... 19 2.3.7 Command: LocSetReflectorsForSupportActive ...... 20 2.3.8 Command: LocSetOdometryActive ...... 21 2.3.9 Command: LocSetOdometryPort ...... 22 2.3.10 Command: LocSetRestrictYMotion ...... 23 2.3.11 Command: LocSetAutoStartActive ...... 24 2.3.12 Command: LocAutoStartSavePose ...... 25 2.3.13 Command: LocSetAutoStartSavePoseInterval ...... 26 2.3.14 Command: SavePermanent ...... 27 2.3.15 Command: LocRequestTimestamp ...... 28 2.3.16 Command: LocSetRingBufferRecordingActive ...... 29 2.3.17 Command: LocSaveRingBufferRecording...... 30 2.4 Result Output Configuration ...... 31 2.4.1 Command: LocSetResultPort ...... 31 2.4.2 Command: LocSetResultMode ...... 32 2.4.3 Command: LocSetResultPoseEnabled ...... 33 2.4.4 Command: LocSetResultEndianness ...... 34 2.4.5 Command: LocSetResultPoseInterval ...... 35 2.4.6 Command: LocRequestResultData ...... 36 2.5 Debugging ...... 37 2.5.1 Command: GetSoftwareVersion ...... 37 2.5.2 Command: DevGetLidarState ...... 38 2.5.3 Command: LocMapState ...... 39 2.5.4 Command: LocMap...... 40

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2.5.5 Command: LocResultState ...... 41 2.5.6 Command: LocResultPort ...... 42 2.5.7 Command: LocResultMode ...... 43 2.5.8 Command: LocResultEndianness ...... 44 2.5.9 Command: LocOdometryPort ...... 45 2.5.10 Command: LocAutoStartActive...... 46 2.5.11 Command: LocAutoStartSavePoseInterval ...... 47 2.5.12 Command: LocRingBufferRecordingActive ...... 48

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1 About this document

1.1 Function of this document

This document lists the telegrams to communicate with LiDAR-LOC. The full operating instructions stated below is explicitly required for the use of LIDAR-LOC:  Operating instructions (8025192)  Hardware Integration (8025193)

Descriptions of the commands, the parameters and the expected response after sending a telegram with the compact command language CoLa-A (Command Language ASCII) are described here.

Telegrams, which are part of the SICK LiDAR Localization ROS driver, are marked with the following sign:

 The full description of the ROS driver can be found here:  https://github.com/SICKAG/sick_lidar_localization

Note Some commands may change during SICK development processes. Please always use the lat- est version of the “Telegram Listing” document.

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2 LiDAR-LOC CoLa telegrams

2.1 Example Start Sequence The simplified start sequence (Figure 1) can be used if the localization system was previously configured via SOPASair or CoLa Methods (sMN DevSetLidarConfig, sMN LocSetMap and sMN SavePermanent). Changes of CoLa Methods sMN DevSetLidarConfig and sMN LocSetMap are only persistent after calling sMN SavePermanent.

Start

Check if System Ready Error or False Delay sMN IsSystemReady

True Auto Start Check LocState BOOTING Delay sRN LocState

IDLE

LOCALIZING Start Localization False Ack Error sMN LocStartLocalizing

True

Initialize Pose False Ack Error sMN LocInitializePose

True

Initialization Finished

Figure 1: Simplified start sequence (CoLa commands and results are written in blue.)

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The advanced start sequence (Figure 2) can be used if the LiDAR sensor of the localization system were previously configured via SOPASair or CoLa Methods, but the map needs to be changed after start-up. If you switch maps during operation, SICK recommends you to check the correct map is loaded. Request the name of the map that is currently loaded by using the CoLa command sRN LocMap.

Start

Check if System Ready Error or False Delay sMN IsSystemReady

True Auto Start Check LocState BOOTING LOCALIZING Delay sRN LocState

IDLE

Check Map State A sRN LocMapState False True

Check Map Name Check Map Name True, False Stop Localization Load Map False sRN LocMap sRN LocMap False or Ack Error sMN LocStop sMN LocSetMap MAP_NAME == Expected MAP_NAME == Expected False, False True False True True, True

True, False Start Localization Configure LiDAR(s) False or Ack Error sMN LocStartLocalizing sMN DevSetLidarConfig Ack Error A False, False

True, True

True Start Localization False Ack Error sMN LocStartLocalizing True True

Initialize Pose False Ack Error sMN LocInitilaizePose

True

Initialization Finished

Figure 2: Advanced start sequence (CoLa commands and results are written in blue, external checkings are written in green)

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2.2 Switching states 2.2.1 Command: IsSystemReady

Checks if the localization controller is booted and ready to process CoLa-A commands. An error code or a false return value means that the localization controller is still booting and loading LiDAR-LOC.

Request Write Telegram syntax: sMN IsSystemReady Telegram part Description Type Range/Value Command type Method by name String sMN Command String IsSystemReady

Example: Check if the system is ready.

Telegram: sMN IsSystemReady

Response Telegram syntax: sAN IsSystemReady Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String IsSystemReady State The system is ready for COLA communication. Bool_1 0 false: Localization controller is booting or LiDAR-LOC is loading 1 true: Localization controller is ready for CoLa-A commands

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2.2.2 Command: LocState

Read the current state of the localization.

Request Write Telegram syntax: sRN LocState Telegram part Description Type Range/Value Command type Read variable by name String sRN Command String LocState

Example: Read localization state.

Telegram sRN LocState

Response Telegram syntax: sRA LocState Telegram part Description Type Range/Value Command type Response (Read variable by name) String sRA Command String LocState State Localization state Enum 0 (BOOTING) 1 (IDLE) 2 (LOCALIZING) 3 (DEMO_MAPPING)

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2.2.3 Command: LocStartLocalizing

If all prerequisites are met, start the localization.

Request Write Telegram syntax: sMN LocStartLocalizing Telegram part Description Type Range/Value Command type Method by name String sMN Command String LocStartLocalizing

Example: If all prerequisites are met, start the localization.

Telegram sMN LocStartLocalizing

Response Telegram syntax: sAN LocStartLocalizing Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String LocStartLocalizing Result The system started localizing. Bool_1 0 failed 1 success

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2.2.4 Command: LocStop

Stop the localization or the demo mapping and return to IDLE state.

Request Write Telegram syntax: sMN LocStop Telegram part Description Type Range/Value Command type Method by name String sMN Command String LocStop

Example: Stop the localization or the demo mapping.

Telegram sMN LocStop

Response Telegram syntax: sAN LocStop Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String LocStop Result The localization or demo mapping stopped. Bool_1 0 failed 1 success

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2.2.5 Command: LocStopAndSave

Note This function is deprecated. Please, use the new automatic start functions LocSetAutoStartActive and either LocAuto- StartSavePose or LocSetAutoStartSavePoseInterval.

Stop the localization and return to IDLE state. The current pose and map are saved for the next system start. The system automatically goes into LOCALIZING state after restart.

Request Write Telegram syntax: sMN LocStopAndSave Telegram part Description Type Range/Value Command type Method by name String sMN Command String LocStopAndSave

Example: Stop the localization and save before restart.

Telegram sMN LocStopAndSave

Response Telegram syntax: sAN LocStopAndSave Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String LocStopAndSave Result The localization stopped and settings are Bool_1 0 failed saved before restart. 1 success

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2.3 Basic configuration

2.3.1 Command: DevSetLidarConfig

Configure a 2D LiDAR sensor.

Request Write Telegram syntax: sMN DevSetLidarConfig Telegram part Description Type Range/Value Command type Method by name String sMN Command String DevSetLidarConfig index Index of the sensor you want to configure. UInt_8 [0,1] minRange Beams with a range that is lower than this UInt_32 [mm] distance will be discarded. maxRange Beams with a range that is greater than this UInt_32 [mm] distance will be discarded. minAngle Beams with an angle that is lower than this UInt_32 [-180 000,180 000] [mdeg] threshold will be discarded. maxAngle Beams with an angle that is greater than UInt_32 [-180 000,180 000] [mdeg] this threshold will be discarded. x X position relative to vehicle coordinate sys- UInt_32 [-50 000,50 000] [mm] tem. y Y position relative to vehicle coordinate sys- UInt_32 [-50 000,50 000] [mm] tem. yaw Yaw angle relative to vehicle coordinate sys- UInt_32 [-180 000,180 000] [mdeg] tem. upsideDown Indicates if the sensor is mounted upside- Bool_1 0 false down. 1 true IP IP address of the sensor. Must be in the String Max length = 15 same subnet as the port of the localization controller to which the sensor is connected. Port CoLa-A port of the sensor that is used for UInt_16 [0, 65 535] communication. This is usually 2111 or 2122. Interface Type The interface type for the connection be- Enum 0 TCP tween LiDAR-LOC and the sensor. Reserved Reserved field set to 0 UInt_8 0 active This sensor is used for localization. The sen- Bool_1 0 false sor with the index 0 always must be 1 (true). 1 true

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Example: Configure first sensor with the following parameters:  LiDAR index: 0  min range: 0.3 m  max range: 100 m  min angle: -180 deg  max angle: 180 deg  mounting pose x: 1 m  mounting pose y: -0.3 m  mounting pose yaw: -45 deg  mounting pose upside down: false  IP: 192.168.0.30  port: 2122  interface type: TCP  Reserved: 0  active: true

Telegram sMN DevSetLidarConfig +0 +300 +100000 -180000 +180000 +1000 -300 -45000 0 +12 192.168.0.30 +2122 0 0 1

The prefix of the string with the IP address is the length of the string, in this case 12 characters.

Response Telegram syntax: sAN DevSetLidarConfig Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String DevSetLidarConfig Set Result The arguments were valid and have been Bool_1 0 failed configured. 1 success Executed The sensor driver started and received data. Bool_1 0 failed Result Failed could mean the sensor is under the 1 success specified IP address not reachable.

Example: Value description  Set result: 1  Executed result: 0 (e.g. under the specified IP address no sensor could be reached)

Response: sAN DevSetLidarConfig 1 0

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2.3.2 Command: DevSetIMUActive Enable or disable the support of the SIM10xx internal IMU to enhance the robustness of the contour localization algorithm.

IMPORTANT This configuration should only be used if both, the sensor and the controller, are rigidly mounted to a vehicle and not for demo cases.

Request Write Telegram syntax: sMN DevSetIMUActive Telegram Description Type Range/Value part Command Method by name String sMN type Command String DevSetIMUActive State The localization uses the IMU for en- Bool_1 0 false hanced robustness. 1 true

Example: Set the IMU for support active.

Telegram sMN DevSetIMUActive 1

Response Telegram syntax: sAN DevSetIMUActive Telegram Description Type Range/Value part Command Response (Method by name) String sAN type Command String DevSetIMUActive Executed The IMU configuration has been set. Bool_1 0 failed Result 1 success

Example: The IMU support has been set according to the request.

Telegram sAN DevSetIMUActive 1

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2.3.3 Command: LocSetMap

Load a map.

Request Write Telegram syntax: sMN LocSetMap Telegram part Description Type Range/Value Command type Method by name String sMN Command String LocSetMap mapFileName The file name of the map that you want to String Max length 255 load.

Example: Load a map with the following parameters:  Map file name: our_hall.smap

Telegram sMN LocSetMap +13 our_hall.smap

The prefix of the string with the map file name is the length, in this case 13 characters.

Response Telegram syntax: sAN LocSetMap Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String LocSetMap Set Result The arguments were valid and have been Bool_1 0 failed configured. 1 success Executed The map is loaded. Bool_1 0 failed Result 1 success

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2.3.4 Command: LocInitializePose

Sets the initial pose and automatically adjust the pose to match the measured scan data in the loaded map. LocInitializePose is a combined command of LocSetPose and LocForceUpdate.

Note The localization has to be started already with LocStartLocalizing to use this telegram.

Request Write Telegram syntax: sMN LocInitializePose Telegram part Description Type Range/Value Command type Method by name String sMN Command String LocInitializePose Pose X coordinate Int_32 [mm] Y coordinate Int_32 [mm] Yaw Angle Int_32 [-180 000,180 000] [mdeg] Uncertainty Translation Uncertainty [mm] UInt_16 [300, 5 000] [mm] The rotational uncertainty is fixed to ± 10 deg.

Example: Set the pose with the following parameters:  X coordinate: 10.3 m  Y coordinate: -5.2 m  Yaw Angle: 30 deg  Translation Uncertainty: 1 m

Telegram sMN LocInitializePose +10300 -5200 +30000 +1000

Response Telegram syntax: sAN LocInitializePose Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String LocInitializePose Result The initial pose is set and the measured Bool_1 0 failed scans could be matched against the map. A 1 success failure reasons is, for example, a pose quality below 80% after several automatic unsuc- cessful matches.

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2.3.5 Command: LocSetPose

Initialize the vehicle pose of the localization.

Request Write Telegram syntax: sMN LocSetPose Telegram part Description Type Range/Value Command type Method by name String sMN Command String LocSetPose Pose X coordinate Int_32 [mm] Y coordinate Int_32 [mm] Yaw Angle Int_32 [-180 000,180 000] [mdeg] Uncertainty Translation Uncertainty [mm] UInt_16 [300, 5 000] [mm] The rotational uncertainty is fixed to ± 10 deg.

Example: Set the pose with the following parameters:  X coordinate: 10.3 m  Y coordinate: -5.2 m  Yaw Angle: 30 deg  Translation Uncertainty: 1 m

Telegram sMN LocSetPose +10300 -5200 +30000 +1000

Response Telegram syntax: sAN LocSetPose Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String LocSetPose Result The initial pose is set. Bool_1 0 failed 1 success

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2.3.6 Command: LocForceUpdate Forces an update of the localization. The preferred solution to improve the pose quality, is to slightly rotate the vehicle on the spot or move the vehicle around the area by up to 5 meters.

Note Use the manual update cautiously. The vehicle may localize in a wrong position.

Request Write Telegram syntax: sMN LocForceUpdate Telegram part Description Type Range/Value Command type Method by name String sMN Command String LocForceUpdate

Example:

Telegram sMN LocForceUpdate

Response Telegram syntax: sAN LocForceUpdate Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String LocForceUpdate Result The localization is updated Bool_1 0 failed 1 success

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2.3.7 Command: LocSetReflectorsForSupportActive Enable or disable the mapped reflectors for localization to enhance the robustness of the contour localization algorithm.

Request Write Telegram syntax: sMN LocSetReflectorsForSupportActive Telegram Description Type Range/Value part Command Method by name String sMN type Command String LocSetReflectorsForSupportActive State The localization uses the mapped re- Bool_1 0 false flectors. 1 true

Example: Set the reflectors for support active.

Telegram sMN LocSetReflectorsForSupportActive 1

Response Telegram syntax: sAN LocSetReflectorsForSupportActive Telegram Description Type Range/Value part Command Response (Method by name) String sAN type Command String LocSetReflectorsForSupportActive Result The reflector configuration has been Bool_1 0 failed set. 1 success

Example: The reflector configuration has been set..

Telegram sAN LocSetReflectorsForSupportActive 1

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2.3.8 Command: LocSetOdometryActive Enable or disable the support of odometry to enhance the robustness of the contour localization algorithm.

Request Write Telegram syntax: sMN LocSetOdometryActive Telegram Description Type Range/Value part Command Method by name String sMN type Command String LocSetOdometryActive State The localization uses the odometry Bool_1 0 false for enhanced robustness. 1 true

Example: Set the odometry for support active.

Telegram sMN LocSetOdometryActive 1

Response Telegram syntax: sAN LocSetOdometryActive Telegram Description Type Range/Value part Command Response (Method by name) String sAN type Command String LocSetOdometryActive Set Result The arguments were valid and have Bool_1 0 failed been configured. 1 success Executed The odometry configuration has been Bool_1 0 failed Result set. 1 success

Example: The odometry support has been set, but could not be started with the given parameters.

Telegram sAN LocSetOdometryActive 1 0

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2.3.9 Command: LocSetOdometryPort Set the port of the UDP server for odometry measurement input.

Request Write Telegram syntax: sMN LocSetOdometryPort Telegram Description Type Range/Value part Command Method by name String sMN type Command String LocSetOdometryPort Port The port of the UDP server for odom- UInt_16 [0, 65 535] etry measurement input. 3000 (default)

Example: Set the UDP port with the following parameters:  Port: 3000.

Telegram sMN LocSetOdometryPort +3000

Response Telegram syntax: sAN LocSetOdometryPort Telegram Description Type Range/Value part Command Response (Method by name) String sAN type Command String LocSetOdometryPort Set Result The port configuration is set. Bool_1 0 failed 1 success Executed The UDP server could be started. Bool_1 0 failed Result 1 success

Example: The port has been set, but could not be started with the given parameters.

Telegram sAN LocSetOdometryPort 1 0

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2.3.10 Command: LocSetRestrictYMotion Enable or disable the restriction of the motion perpendicular to the moving direction.

IMPORTANT This configuration should only be used if the sensor is rigidly mounted to a vehicle and not for demo cases. If the vehicle has an omnidirectional drive, the configuration must be set to false.

Request Write Telegram syntax: sMN LocSetRestrictYMotion Telegram Description Type Range/Value part Command Method by name String sMN type Command String LocSetRestrictYMotion State The motion of the vehicle in y direc- Bool_1 0 false (default) tion is restricted. 1 true

Example: Set the restriction perpendicular to the moving direction active.

Telegram sMN LocSetRestrictYMotion 1

Response Telegram syntax: sAN LocSetRestrictYMotion Telegram Description Type Range/Value part Command Response (Method by name) String sAN type Command String LocSetRestrictYMotion Executed The restriction configuration has Bool_1 0 failed Result been set. 1 success

Example: The configuration has been set.

Telegram sAN LocSetRestrictYMotion 1

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2.3.11 Command: LocSetAutoStartActive Enable or disable the automatic start of the localization after a first successful localization.

Note The automatic start of the application software has to be provided by a saved pose from either the call of the command LocAutoStartSavePose or from periodic pose savings by the command LocSetAutoStartSavePoseInterval.

Request Write Telegram syntax: sMN LocSetAutoStartActive Telegram Description Type Range/Value part Command Method by name String sMN type Command String LocSetAutoStartActive State The localization automatically starts Bool_1 0 false after a first successful localization. 1 true

Example: Set the automatic start function active.

Telegram sMN LocSetAutoStartActive 1

Response Telegram syntax: sAN LocSetAutoStartActive Telegram Description Type Range/Value part Command Response (Method by name) String sAN type Command String LocSetAutoStartActive Result The automatic start configuration Bool_1 0 failed has been set. 1 success

Example: The automatic start configuration has been set.

Telegram sAN LocSetAutoStartActive 1

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2.3.12 Command: LocAutoStartSavePose Saves the current pose on-request for the automatic start of the application software.

IMPORTANT If LocAutoStart is enabled, the system will reinitialize itself on restart at the pose where the telegram has been last called. Ensure that the vehicle is standing still, when the telegram is sent. Calling the telegram while the vehicle is still in movement, can lead to wrong initializations.

Note The automatic start of the application software has to be enabled by the command LocSetAu- toStartActive to use this function.

Request Write Telegram syntax: sMN LocAutoStartSavePose Telegram Description Type Range/Value part Command Method by name String sMN type Command String LocAutoStartSavePose

Example: Saves the current pose for initializing at the next automatic start.

Telegram sMN LocAutoStartSavePose

Response Telegram syntax: sAN LocAutoStartSavePose Telegram Description Type Range/Value part Command Response (Method by name) String sAN type Command String LocAutoStartSavePose Result The pose has been saved. Bool_1 0 failed 1 success

Example: The pose has been saved.

Telegram sAN LocAutoStartSavePose 1

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2.3.13 Command: LocSetAutoStartSavePoseInterval Saves the current pose periodically for the automatic start of the application software with the specified interval.

IMPORTANT Ensure the interval is low enough to save the pose before the shut down of the localization software, however, do not set the interval lower than needed to extend the memory life.

Note The automatic start of the application software has to be enabled by the command LocSetAu- toStartActive to use this function.

Request Write Telegram syntax: sMN LocSetAutoStartSavePoseInterval Telegram Description Type Range/Value part Command Method by name String sMN type Command String LocSetAutoStartSavePoseInterval Interval The interval how often to save the UInt_8 [0, 255] in sec pose periodically. 0 (default = off)

Example: Save the pose synchronously every 3 seconds for the initial pose at the next automatic start.

Telegram sMN LocSetAutoStartSavePoseInterval 3

Response Telegram syntax: sAN LocSetAutoStartSavePoseInterval Telegram Description Type Range/Value part Command Response (Method by name) String sAN type Command String LocSetAutoStartSavePoseInterval Result The interval has been set. Bool_1 0 failed 1 success

Example: The interval has been set.

Telegram sAN LocSetAutoStartSavePoseInterval 1

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2.3.14 Command: SavePermanent

Save the configuration parameters that are set with CoLa-A telegrams permanently on the localization controller. They are reloaded on restart.

Request Write Telegram syntax: sMN SavePermanent Telegram part Description Type Range/Value Command type Method by name String sMN Command String SavePermanent

Example: Save the parameters permanently.

Telegram sMN SavePermanent

Response Telegram syntax: sAN SavePermanent Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String SavePermanent Result The parameters have been saved success- Bool_1 0 failed fully. 1 success

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2.3.15 Command: LocRequestTimestamp

Request the current system time of the localization controller and generate a hardware pulse. The hardware signal and the time stamp are generated at the same time.

Request Write Telegram syntax: sMN LocRequestTimestamp Telegram part Description Type Range/Value Command type Method by name String sMN Command String LocRequestTimestamp

Example: Request the time stamp from the localization controller.

Telegram sMN LocRequestTimestamp

Response Telegram syntax: sAN LocRequestTimestamp Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String LocRequestTimestamp Time stamp The current system time in hex. UInt_32 [0, 4 294 967 295 ] in [ms]

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2.3.16 Command: LocSetRingBufferRecordingActive Enable or disable the continuous recording of data for improved support in critical situations.

Note The permanent storage of the continuous ring buffer recordings has to be triggered by the command LocSaveRingBufferRecording.

Request Write Telegram syntax: sMN LocSetRingBufferRecordingActive Telegram Description Type Range/Value part Command Method by name String sMN type Command String LocSetRingBufferRecordingActive State The ring buffer recording is active. Bool_1 0 false 1 true

Example: Set the ring buffer function active.

Telegram sMN LocSetRingBufferRecordingActive 1

Response Telegram syntax: sAN LocSetRingBufferRecordingActive Telegram Description Type Range/Value part Command Response (Method by name) String sAN type Command String LocSetRingBufferRecordingActive Result The ring buffer configuration has Bool_1 0 failed been set. 1 success

Example: The ring buffer configuration has been set.

Telegram sAN LocSetRingBufferRecordingActive 1

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2.3.17 Command: LocSaveRingBufferRecording Saves the most recent data from the continuous ring buffer recording.

Note If the storage of the sd card is full, the oldest recording file will be deleted when LocSaveRing- BufferRecording is called

Note The ring buffer recording must be enabled only once by the command LocSetRingBuffer- RecordingActive to use this function.

Request Write Telegram syntax: sMN LocSaveRingBufferRecording Telegram Description Type Range/Value part Command Method by name String sMN type Command String LocSaveRingBufferRecording Reason Reason why the recording should be saved. String Max length = 512

Example: Saves most recent data with information about time due to error with name “pose quality low”.

Telegram sMN LocSaveRingBufferRecording +36 YYYY-MM-DD_HH-MM-SS pose quality low

The prefix of the string is the length, in this case 36 characters.

Response Telegram syntax: sAN LocSaveRingBufferRecording Telegram Description Type Range/Value part Command Response (Method by name) String sAN type Command String LocSaveRingBufferRecording Result The ring buffer recording has been saved. A Bool_1 0 failed failure reason might be that the SD card is full 1 success or the ring buffer was not active. Example: The ring buffer recording has been saved.

Telegram sAN LocSaveRingBufferRecording 1

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2.4 Result Output Configuration

After configuring the result output, save the settings permanently with sMN SavePermanent.

2.4.1 Command: LocSetResultPort

Set the port of the TCP server for the result output.

Request Write Telegram syntax: sMN LocSetResultPort Telegram Description Type Range/Value part Command Method by name String sMN type Command String LocSetResultPort Port The new TCP port of the TCP server for result out- UInt_16 [0, 65 535] put. 2201 (default)

Example: Set the result port with the following parameters:  Port: 2201

Telegram sMN LocSetResultPort +2201

Response Telegram syntax: sAN LocSetResultPort Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String LocSetResultPort Set Result The port configuration is set. Bool_1 0 failed 1 success Executed The TCP server could be started. Bool_1 0 failed Result 1 success

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2.4.2 Command: LocSetResultMode

Set the mode of the result output to STREAM mode or POLL mode.

Request Write Telegram syntax: sMN LocSetResultMode Telegram Description Type Range/Value part Command Method by name String sMN type Command String LocSetResultMode Mode The new result mode. Enum 0 STREAM (default) 1 POLL

Example: Set the result output mode with the following parameters:  Mode: 0 (STREAM)

Telegram sMN LocSetResultMode 0

Response Telegram syntax: sAN LocSetResultMode Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String LocSetResultMode Result The configuration has been set. Bool_1 0 failed 1 success

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2.4.3 Command: LocSetResultPoseEnabled

Enable the result pose output.

Request Write Telegram syntax: sMN LocSetResultPoseEnabled Telegram Description Type Range/Value part Command Method by name String sMN type Command String LocSetResultPoseEnabled Result state The result interface is disabled or enabled. Bool_1 0 disabled, 1 enabled (default)

Example: Disable the result pose output with the following parameters:  Enable flag: 0 (disabled)

Telegram sMN LocSetResultPoseEnabled 0

Response Telegram syntax: sAN LocSetResultPoseEnabled Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String LocSetResultPoseEnabled Result The configuration has been set. Bool_1 0 failed 1 success

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2.4.4 Command: LocSetResultEndianness

Set the endianness of the result output.

Request Write Telegram syntax: sMN LocSetResultEndianness Telegram Description Type Range/Value part Command Method by name String sMN type Command String LocSetResultEndianness Endianness The endianness of the result port. Enum 0 BIG_ENDIAN (default) 1 LITTLE_ENDIAN

Example: Set the endianness of the result output with the following parameters:  Endianness: 0 (BIG_ENDIAN)

Telegram sMN LocSetResultEndianness 0

Response Telegram syntax: sAN LocSetResultEndianness Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String LocSetResultEndianness Result The endianness has been set. Bool_1 0 failed 1 success

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2.4.5 Command: LocSetResultPoseInterval

Set the interval of the pose result output.

Note The frequency depends on the 2D LiDAR sensor scan cycle time.

Request Write Telegram syntax: sMN LocSetResultPoseInterval Telegram Description Type Range/Value part Command Method by name String sMN type Command String LocSetResultPoseInterval Interval The output interval in number of scans. UInt_8 [1, 255] 1 (default)

Example: Set the interval of the result output with the following parameters:  Interval 1: pose result with each processed scan  Interval 2: a pose with every second of a processed scan.

Telegram sMN LocSetResultPoseInterval 1

Response Telegram syntax: sAN LocSetResultPoseInterval Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String LocSetResultPoseInterval Result The interval has been set. Bool_1 0 failed 1 success

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2.4.6 Command: LocRequestResultData

If in POLL mode, trigger sending the localization result of the next processed scan via TCP interface.

Request Write Telegram syntax: sMN LocRequestResultData Telegram Description Type Range/Value part Command Method by name String sMN type Command String LocRequestResultData

Example: If in POLL mode, trigger sending a single result message via TCP interface. Telegram sMN LocRequestResultData

Response Telegram syntax: sAN LocRequestResultData Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String LocRequestResultData Result The result message has been sent. Bool_1 0 failed 1 success

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2.5 Debugging 2.5.1 Command: GetSoftwareVersion

Get the current software version of the localization controller’s application software.

Request Write Telegram syntax: sMN GetSoftwareVersion Telegram Description Type Range/Value part Command Method by name String sMN type Command String GetSoftwareVersion

Example: Read the current software version.

Telegram sMN GetSoftwareVersion

Response Telegram syntax: sAN GetSoftwareVersion Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String GetSoftwareVersion Version The software version. String Max length = 255

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2.5.2 Command: DevGetLidarState

Get the current 2D LiDAR sensor configuration from the system.

Request Write Telegram syntax: sMN DevGetLidarState Telegram Description Type Range/Value part Command Method by name String sMN type Command String DevGetLidarState Index Index of the sensor that you want to configure. UInt_8 [0,1]

Example: Read the configuration of the first sensor:  Index: 0

Telegram sMN DevGetLidarState 0

Response Telegram syntax: sAN DevGetLidarState Telegram part Description Type Range/Value Command type Response (Method by name) String sAN Command String DevGetLidarState Device status The sensor state. Enum 0 ERROR, 1 UNDEFINED, 2 OKAY Connection The connection state of the sensor with the Enum 0 ERROR, status localization controller. 1 UNDEFINED, 2 OKAY Data status The ability of the localization controller to re- Enum 0 ERROR, ceive data from the sensor 1 UNDEFINED, 2 OKAY

For more information see the operating instructions.

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2.5.3 Command: LocMapState

Read the current map state.

Request Write Telegram syntax: sRN LocMapState Telegram part Description Type Range/Value Command type Read variable by name String sRN Command String LocMapState

Example: Read map state.

Telegram sRN LocMapState

Response Telegram syntax: sRA LocMapState Telegram part Description Type Range/Value Command type Response (Read variable by name) String sRA Command String LocMapState State The map is active. Bool_1 0 failed: not active 1 success: active

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2.5.4 Command: LocMap

Read the current map name. If this result map name is empty, no map is configured.

Request Write Telegram syntax: sRN LocMap Telegram part Description Type Range/Value Command type Read variable by name String sRN Command String LocMap

Example: Read map name.

Telegram sRN LocMap

Response Telegram syntax: sRA LocMap Telegram part Description Type Range/Value Command type Response (Read variable by name) String sRA Command String LocMap Map name The name of the map String Map_Name The string has a prefix that specifies the length of the string in hexadecimal nota- tion.

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2.5.5 Command: LocResultState

Read the state of the result port interface.

Request Write Telegram syntax: sRN LocResultState Telegram part Description Type Range/Value Command type Read variable by name String sRN Command String LocResultState

Example: Read current state of the result output.

Telegram sRN LocResultState

Response Telegram syntax: sRA LocResultState Telegram part Description Type Range/Value Command type Response (Read variable by name) String sRA Command String LocResultState State The output state of the result interface as bit Uint_8 From LSB to MSB: field. Bit 1: Pose output enabled Bit 8: Error flag

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2.5.6 Command: LocResultPort

Read the TCP port of the localization controller for result output. Request Write Telegram syntax: sRN LocResultPort Telegram part Description Type Range/Value Command type Read variable by name String sRN Command String LocResultPort

Example: Read the TCP port that is currently used for result output.

Telegram sRN LocResultPort

Response Telegram syntax: sRA LocResultPort Telegram part Description Type Range/Value Command type Response (Read variable by name) String sRA Command String LocResultPort Port The TCP port of the localization controller for Uint_16 Port value result output.

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2.5.7 Command: LocResultMode

Read the current result mode.

Request Write Telegram syntax: sRN LocResultMode Telegram part Description Type Range/Value Command type Read variable by name String sRN Command String LocResultMode

Example: Read mode.

Telegram sRN LocResultMode

Response Telegram syntax: sRA LocResultMode Telegram part Description Type Range/Value Command type Response (Read variable by name) String sRA Command String LocResultMode Mode The current result mode. Enum 0 STREAM 1 POLL

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2.5.8 Command: LocResultEndianness

Read the endianness configuration of the result interface.

Request Write Telegram syntax: sRN LocResultEndianness Telegram part Description Type Range/Value Command type Read variable by name String sRN Command String LocResultEndianness

Example: Read endianness.

Telegram sRN LocResultEndianness

Response Telegram syntax: sRA LocResultEndianness Telegram part Description Type Range/Value Command type Response (Read variable by name) String sRA Command String LocResultEndianness Endianness The endianness configuration of the result in- Uint_8 0 BIG_ENDIAN terface. 1 LITTLE_ENDIAN

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2.5.9 Command: LocOdometryPort

Read the current port of the UDP server for odometry measurement input.

Request Write Telegram syntax: sRN LocOdometryPort Telegram part Description Type Range/Value Command type Read variable by name String sRN Command String LocOdometryPort

Example: Read the odometry port.

Telegram sRN LocOdometryPort

Response Telegram syntax: sRA LocOdometryPort Telegram part Description Type Range/Value Command type Response (Read variable by name) String sRA Command String LocOdometryPort Mode The port of the UDP server for odometry UInt_16 [0, 65 535] measurement input. 3000 (default)

Example: The odometry port is BB8 (hexadecimal) = 3000 (decimal)

Telegram sRA LocOdometryPort BB8

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2.5.10 Command: LocAutoStartActive

Read if automatic start of the localization is active or not.

Request Write Telegram syntax: sRN LocAutoStartActive Telegram part Description Type Range/Value Command type Read variable by name String sRN Command String LocAutoStartActive

Example: Read automatic start state.

Telegram sRN LocAutoStartActive

Response Telegram syntax: sRA LocAutoStartActive Telegram part Description Type Range/Value Command type Response (Read variable by name) String sRA Command String LocAutoStartActive Mode The localization automatically starts after a Bool_1 0 false first successful localization. 1 true

Example: Automatic start is active

Telegram sRA LocAutoStartActive 1

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2.5.11 Command: LocAutoStartSavePoseInterval

Read the current interval of the periodic storage of the pose by the automatic start function.

Request Write Telegram syntax: sRN LocAutoStartSavePoseInterval Telegram part Description Type Range/Value Command type Read variable by name String sRN Command String LocAutoStartSavePoseInter- val

Example: Read the interval.

Telegram sRN LocAutoStartSavePoseInterval

Response Telegram syntax: sRA LocAutoStartSavePoseInterval Telegram part Description Type Range/Value Command type Response (Read variable by name) String sRA Command String LocAutoStartSavePoseInter- val Mode The interval how often to save the pose peri- UInt_8 [0, 255] in sec odically. 0 (default = off)

Example: Interval is 2 (hexadecimal) = 2 (decimal)

Telegram sRA LocAutoStartSavePoseInterval 2

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2.5.12 Command: LocRingBufferRecordingActive

Read if the continuous recording of data is active or not.

Request Write Telegram syntax: sRN LocRingBufferRecordingActive Telegram part Description Type Range/Value Command type Read variable by name String sRN Command String LocRingBufferRecordingAc- tive

Example: Read the ring buffer state.

Telegram sRN LocRingBufferRecordingActive

Response Telegram syntax: sRA LocRingBufferRecordingActive Telegram part Description Type Range/Value Command type Response (Read variable by name) String sRA Command String LocRingBufferRecordingAc- tive Mode The ring buffer recording is active. Bool_1 0 false 1 true

Example: Ring buffer recording is active.

Telegram sRA LocRingBufferRecordingActive 1

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