Support field monitoring for LMS1xx and LMS5xx

Author: rostest

README.md

@@ -213,7 +213,7 @@ The use of the parameters can be looked up in the launch files. This is also rec
 
 - Angle compensation: For highest angle accuracy the NAV-Lidar series supports an [angle compensation mechanism](./doc/angular_compensation.md).
 
-- The **TiM7xx** and **TiM7xxS** families have [extended settings for field monitoring](./doc/tim7xxs_extensions.md).
+- **Field monitoring**: The **LMS1xx**, **LMS5xx**, **TiM7xx** and **TiM7xxS** families have [extended settings for field monitoring](./doc/field_monitoring_extensions.md).
 
 ## Sopas Mode
 This driver supports both COLA-B (binary) and COLA-A (ASCII) communication with the laser scanner. Binary mode is activated by default. Since this mode generates less network traffic.

doc/tim7xxs_extensions.md renamed to doc/field_monitoring_extensions.md

@@ -1,12 +1,13 @@
-# Extensions for TiM7xxS
+# Field monitoring for LMS1xx, LMS5xx, TiM7xx and TiM7xxS
 
-The TiM7xx and TiM7xxS families have the following extended settings for field monitoring:
+The LMS1xx, LMS5xx, TiM7xx and TiM7xxS families have the following extended settings for field monitoring:
 
 ## Field monitoring messages
 
-TiM7xx and TiM7xxS scanner support field monitoring. Fields can be configured by Sopas ET. Once they are configured, sick_scan publishes ros messages containing the monitoring information from the lidar. 
+LMS1xx, LMS5xx, TiM7xx and TiM7xxS scanner support field monitoring. Fields can be configured by Sopas ET. Once they are configured, sick_scan publishes ros messages containing the monitoring information from the lidar. 
 
-By default, field monitoring is enabled in the launch file [sick_tim_7xx.launch](../launch/sick_tim_7xx.launch) resp. [sick_tim_7xxS.launch](../launch/sick_tim_7xxS.launch) by following settings:
+By default, field monitoring is enabled in the launch files [sick_lms_1xx.launch](../launch/sick_lms_1xx.launch),  [sick_lms_5xx.launch](../launch/sick_lms_5xx.launch),
+[sick_tim_7xx.launch](../launch/sick_tim_7xx.launch) resp. [sick_tim_7xxS.launch](../launch/sick_tim_7xxS.launch) by following settings:
 ```
 <param name="activate_lferec" type="bool" value="True"/> <!-- activate field monitoring by lferec messages -->
 <param name="activate_lidoutputstate" type="bool" value="True"/> <!-- activate field monitoring by lidoutputstate messages -->
@@ -26,9 +27,23 @@ rosservice call /sick_tim_7xx/ColaMsg "{request: 'sEN LIDinputstate 0'}"  # deac
 rosservice call /sick_tim_7xx/ColaMsg "{request: 'sRN LIDinputstate'}"    # query activation status of LIDinputstate messages 
 ```
 
-LFErec and LIDoutputstate messages are defined in [LFErecMsg.msg](../msg/LFErecMsg.msg) and [LFErecFieldMsg.msg](../msg/LFErecFieldMsg.msg) resp. [LIDoutputstateMsg.msg](../msg/LIDoutputstateMsg.msg) and published on topics `"/sick_tim_7xxS/lferec"` resp. `"/sick_tim_7xxS/lidoutputstate"`.
+LFErec and LIDoutputstate messages are defined in [LFErecMsg.msg](../msg/LFErecMsg.msg) and [LFErecFieldMsg.msg](../msg/LFErecFieldMsg.msg) resp. [LIDoutputstateMsg.msg](../msg/LIDoutputstateMsg.msg) and published on the following topics: `"/sick_tim_7xxS/lferec"` resp. `"/sick_tim_7xxS/lidoutputstate"`.
+
+| ** Scanner ** | ** lferec topic ** | ** lidoutputstate topic **  |
+|---------------|--------------------|-----------------------------|
+| lms_1xx  | /sick_lms_1xx/lferec  | /sick_lms_1xx/lidoutputstate  |
+| lms_5xx  | /sick_lms_5xx/lferec  | /sick_lms_5xx/lidoutputstate  |
+| lms_7xx  | /sick_tim_7xx/lferec  | /sick_tim_7xx/lidoutputstate  |
+| lms_7xxS | /sick_tim_7xxS/lferec | /sick_tim_7xxS/lidoutputstate |
+
 To view the field monitoring messages, run
 ```
+rostopic echo "/sick_lms_1xx/lferec"
+rostopic echo "/sick_lms_1xx/lidoutputstate"
+rostopic echo "/sick_lms_5xx/lferec"
+rostopic echo "/sick_lms_5xx/lidoutputstate"
+rostopic echo "/sick_tim_7xx/lferec"
+rostopic echo "/sick_tim_7xx/lidoutputstate"
 rostopic echo "/sick_tim_7xxS/lferec"
 rostopic echo "/sick_tim_7xxS/lidoutputstate"
 ```
@@ -54,14 +69,18 @@ and run
 rosrun rviz rviz -d ./src/sick_scan/test/emulator/config/rviz_emulator_cfg.rviz
 ```
 
-Otherwise you can just add visualizations of type `/cloud/PointCloud2` and `/sick_tim_7xxS/marker`:
+Otherwise you can just add visualizations of type `/cloud/PointCloud2` and `/sick_tim_7xxS/marker` (resp. `/sick_tim_1xx/marker` for lms_1xx,  `/sick_tim_5xx/marker` for lms_5xx and  `/sick_tim_7xx/marker` for tim_7xx):
 
 ![tim7xxs_screenshot01.png](tim7xxs_screenshot01.png) 
 
-The following screenshot shows an example with 2 fields (the 3. field is not configured), the first field with status "Clear", the second with status "Infringed":
+The following screenshot shows a TiM781S example with 2 fields (the 3. field is not configured), the first field with status "Clear", the second with status "Infringed":
 
 ![tim7xxs_screenshot02.png](tim7xxs_screenshot02.png)
 
+The following screenshot shows a LMS511 example with a segmented field, two rectangular fields and a dynamic fields:
+
+![lms511_screenshot01.png](lms511_screenshot01.png)
+
 Note: Some combinations of rviz, OpenGL 3, VMware and graphic card drivers may cause visualization issues. In case of missing markers, try rviz with Open GL 2 using the command
 ```
 rosrun rviz rviz -d ./src/sick_scan/test/emulator/config/rviz_emulator_cfg.rviz --opengl 210
@@ -73,7 +92,7 @@ Cola commands can be sent for diagnosis and development using the ros service Co
 ```
 <param name="start_services" type="bool" value="True"/>
 ```
-in the launch file [sick_tim_7xxS.launch](../launch/sick_tim_7xxS.launch). The ros service sends the given cola command to the lidar and returns its response.
+in the launch file [sick_tim_7xxS.launch](../launch/sick_tim_7xxS.launch) (resp. [sick_lms_1xx.launch](../launch/sick_lms_1xx.launch), [sick_lms_5xx.launch](../launch/sick_lms_5xx.launch), [sick_tim_7xx.launch](../launch/sick_tim_7xx.launch) ). The ros service sends the given cola command to the lidar and returns its response.
 
 Example for cola command `"sRN SCdevicestate"` and response `"sRA SCdevicestate \\x00"` with error status 0 (no error):
 ```
@@ -89,11 +108,11 @@ Package sick_scan implements some tools to support unittests, development and em
 
 - pcap_json_converter to convert pcapng-files to json.
 
-### TiM781S emulation
+### LMS and TiM emulation
 
 sick_scan_emulator implements a simple test server for cola commands. It rececives Cola-commands, returns Tim781S-like responses and sends Scandata from a json-file. Run
 ```
-roslaunch sick_scan emulator.launch
+roslaunch sick_scan emulator_01_default.launch
 ```
 to emulate a local Tim781S device. Then start and connect the sick_scan driver by
 ```
@@ -102,20 +121,36 @@ roslaunch sick_scan sick_tim_7xxS.launch hostname:=127.0.0.1
 
 Note that sick_scan_emulator just implements a simple server for offline tests. It does not emulate a lidar device completely and should only be used for development and testing.
 
-Scandata messages are parsed from json-file(s). These json-files are configured in the launch file [emulator.launch](../test/emulator/launch/emulator.launch) and converted form wireshark-records (pcapng-files) using pcap_json_converter.py (see section Pcapng converter tool](#pcapng-converter-tool)).
+Scandata messages are parsed from json-file(s). These json-files are configured in the launch file [emulator.launch](../test/emulator/launch/emulator_01_default.launch) and converted form wireshark-records (pcapng-files) using pcap_json_converter.py (see section Pcapng converter tool](#pcapng-converter-tool)).
+
+A LMS111 device can be emulated by running
+```
+roslaunch sick_scan emulator_lms1xx.launch &
+rosrun rviz rviz -d ./src/sick_scan/test/emulator/config/rviz_lms1xx.rviz &
+roslaunch sick_scan sick_lms_1xx.launch hostname:=127.0.0.1
+```
+
+A LMS511 device can be emulated by running
+```
+roslaunch sick_scan emulator_lms5xx.launch &
+rosrun rviz rviz -d ./src/sick_scan/test/emulator/config/rviz_lms5xx.rviz &
+roslaunch sick_scan sick_lms_5xx.launch hostname:=127.0.0.1
+```
 
 ### Unittests
 
-Folder `test/emulator/scandata` contains scandata examples for unittests. To run an offline unittest for TiM781S enter the following commands:
+Folder `test/emulator/scandata` contains scandata examples for unittests. To run an offline unittest for LMS111, LMS511, TiM781, TiM781S enter the following commands:
 ```
 cd test/scripts
-./run_simu_tim781s.bash
+./run_simu_lms1xx.bash
+./run_simu_lms5xx.bash
+./run_simu_tim7xx_tim7xxS.bash
 ```
 or start emulator, driver and rviz by running
 ```
 source ./install/setup.bash
 # Start sick_scan emulator
-roslaunch sick_scan emulator.launch &
+roslaunch sick_scan emulator_01_default.launch &
 sleep 1
 # Start rviz
 rosrun rviz rviz -d ./src/sick_scan/test/emulator/config/rviz_emulator_cfg.rviz --opengl 210 &
@@ -133,4 +168,4 @@ The pcapng converter tool [pcap_json_converter.py](../test/pcap_json_converter/p
 3. Capture the network traffic for some time.
 4. Stop capturing and save the network traffic in a pcapng-file.
 5. Convert the pcapng-file to json by `python pcap_json_converter.py --pcap_filename=<filepath>.pcapng`. Result is a jsonfile `<filepath>.pcapng.json`
-6. Set the resulting json-file in the emulator configuration [emulator.launch](../test/emulator/launch/emulator.launch) by `<arg name="scandatafiles" default="<filepath>.pcapng.json"/>`
+6. Set the resulting json-file in the emulator configuration [emulator.launch](../test/emulator/launch/emulator_01_default.launch) by `<arg name="scandatafiles" default="<filepath>.pcapng.json"/>`