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 docu- ment 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. 8024818 / 19NW / 2020-10-19 | SICK TECHNICAL INFORMATION | TELEGRAM LISTING LIDAR-LOC 2 Subject to change without notice 1 About this document 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 8024818 / 19NW / 2020-10-19 | SICK TECHNICAL INFORMATION | TELEGRAM LISTING LIDAR-LOC 3 Subject to change without notice 1 About this document 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 8024818 / 19NW / 2020-10-19 | SICK TECHNICAL INFORMATION | TELEGRAM LISTING LIDAR-LOC 4 Subject to change without notice 1 About this document 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. 8024818 / 19NW / 2020-10-19 | SICK TECHNICAL INFORMATION | TELEGRAM LISTING LIDAR-LOC 5 Subject to change without notice 2 LiDAR-LOC CoLa telegrams 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.) 8024818 / 19NW / 2020-10-19 | SICK TECHNICAL INFORMATION | TELEGRAM LISTING LIDAR-LOC 6 Subject to change without notice 2 LiDAR-LOC CoLa telegrams The advanced start sequence (Figure 2) can be used if the LiDAR sensor