neo_sick_field

Convenient way to select a SICK scanner field set by toggling relayboard relays to a specific scanner input case

Getting started

Within SICK CDS software

1. Define some Field Sets
2. Set up Cases with respective Input conditions

then

1. Adjust config/mapping.yaml to refect your SICK settings and Neobotix relayboard wiring
2. rosrun the node

Exemplary mapping.yaml

sick_inputs2neo_relay: {A: 2, B: 3}
sick_field-cases:
  15: {A: 0, B: 0}
  10: {A: 1, B: 0}
  nil: {A: 0, B: 1}
  park: {A: 1, B: 1}

results in

$ rosservice list | grep neo_sick_field
/neo_sick_field/10
/neo_sick_field/15
/neo_sick_field/nil
/neo_sick_field/park

You can call to activate those scanner field sets

$ rosservice call /neo_sick_field/park
success: True
message: ''

now check the param server

$ rosparam get /neo_sick_field/field 
park

API

• Parameter server
  • ~field
    Name (key) of last successfully set field case
• Services
  • ~<x>
    Provides a service std_srvs.Trigger for each entry in mapping.sick_field-cases.
    Those will call respective /relayboard_v2/set_relay for the scanner field case.
• Publishes
  • nothing
• Subscribes
  • none