SICK Telegram listing Operating instructions

T E C H N I C A L I N F O R M A T I O N

Telegram Listing LiDAR-LOC

LiDAR Localization Software

8024818 /2018-08-26 | SICK TECHNICAL INFORMATION | TELEGRAM LISTING LIDAR-LOC

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Subject to change without notice

Product described

LiDAR-LOC with localization controller and 2D LiDAR sensor

Manufacturer

SICK AG

Erwin-Sick-Str. 1

79183 Waldkirch

Germany

Legal notes

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of SICK AG.

The trademarks mentioned in this document are the property of their respective owners.

Original document

This document is an original document of SICK AG.

  About this document 
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Contents 
About this document ................................................................................................................ 4 
1  Function of this document ............................................................................................................... 4 
LiDAR-LOC CoLa telegrams ..................................................................................................... 5 
1  Example Start Sequence .................................................................................................................. 5 
2  Switching states ................................................................................................................................ 7 
2.1  Command: IsSystemReady ..................................................................................................................7 
2.2  Command: LocState ..............................................................................................................................8 
2.3  Command: LocStartLocalizing .............................................................................................................9 
2.4  Command: LocStop ............................................................................................................................ 10 
2.5  Command: LocStopAndSave ............................................................................................................. 11 
3  Basic configuration ......................................................................................................................... 12 
3.1  Command: DevSetLidarConfig .......................................................................................................... 12 
3.2  Command: LocSetMap ....................................................................................................................... 14 
3.3  Command: LocMapState ................................................................................................................... 15 
3.4  Command: LocMap ............................................................................................................................. 16 
3.5  Command: LocForceUpdate .............................................................................................................. 17 
3.6  Command: LocSetPose ...................................................................................................................... 18 
3.7  Command: LocSetReflectorsForSupportActive .............................................................................. 19 
3.8  Command: SavePermanent .............................................................................................................. 20 
3.9  Command: LocRequestTimestamp .................................................................................................. 21 
4  Result Output Configuration .......................................................................................................... 22 
4.1  Command: LocSetResultPort ............................................................................................................ 22 
4.2  Command: LocSetResultMode ......................................................................................................... 23 
4.3  Command: LocSetResultPoseEnabled ............................................................................................ 24 
4.4  Command: LocSetResultEndianness ............................................................................................... 25 
4.5  Command: LocSetResultPoseInterval ............................................................................................. 26 
4.6  Command: LocRequestResultData .................................................................................................. 27 
5  Debugging ........................................................................................................................................ 28 
5.1  Command: DevGetLidarState ........................................................................................................... 28 
5.2  Command: LocResultState ................................................................................................................ 29 
5.3  Command: LocResultPort .................................................................................................................. 30 
5.4  Command: LocResultMode ............................................................................................................... 31 
5.5  Command: LocResultEndianness ..................................................................................................... 32 

1 About this document

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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 operation instruction stated below

is explicitly required for the use of LIDAR-LOC:

 Operating instructions (8024728)

 Hardware Integration (8024819)

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.

Some commands may change during SICK development processes. Please always use the latest

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 SavePerma-

nent.

Start

Check if System Ready

sMN IsSystemReady

Check LocState

sRN LocState

BOOTING

IDLE

Start Localization

sMN LocStartLocalizing

Initialization

Finished

True

Ack ErrorFalse

LOCALIZING

Auto Start

Delay

Error or False

Delay

Initialize Pose

sMN LocSetPose

True

Ack ErrorFalse

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

The advanced start sequence (Figure 2) can be used if the LiDAR sensor of the localization system were previ-

ously 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.

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Start

Check if System Ready

sMN IsSystemReady

A

Check LocState

sRN LocState

BOOTING

Check Map State

sRN LocMapState

IDLE

Check Map Name

sRN LocMap

MAP_NAME == Expected

True

Initialize Pose

sMN LocSetPose

True

Start Localization

sMN LocStartLocalizing

Initialization

Finished

True

Load Map

sMN LocSetMap

False

True, True

Ack Error

False

Configure LiDAR(s)

sMN DevSetLidarConfig

True, True

Start Localization

sMN LocStartLocalizing

True

Ack ErrorFalse

True, False

or

False, False

True, False

or

False, False

Check Map Name

sRN LocMap

MAP_NAME == Expected

LOCALIZING

True

False

Stop Localization

sMN LocStop

True

Ack Error

False

Auto Start

Ack ErrorFalse

Delay

Error or False

Delay

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.

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.

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.

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

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.

Note

This function does not save configuration settings that were made with CoLa-A commands, see

savePermanet command.

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.

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

saved before restart.

Bool_1

0 failed

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

distance will be discarded.

UInt_32

[mm]

maxRange

Beams with a range that is greater than this

distance will be discarded.

UInt_32

[mm]

minAngle

Beams with an angle that is lower than this

threshold will be discarded.

UInt_32

[-180000,180000] [mdeg]

maxAngle

Beams with an angle that is greater than

this threshold will be discarded.

UInt_32

[-180000,180000] [mdeg]

x

X position relative to vehicle coordinate sys-

tem.

UInt_32

[-50000,50000] [mm]

y

Y position relative to vehicle coordinate sys-

tem.

UInt_32

[-50000,50000] [mm]

yaw

Yaw angle relative to vehicle coordinate sys-

tem.

UInt_32

[-180000,180000] [mdeg]

upsideDown

Indicates if the sensor is mounted upside-

down.

Bool_1

0 false

1 true

IP

IP address of the sensor. Must be in the

same subnet as the port of the localization

controller to which the sensor is connected.

String

Max length = 15

Port

CoLa-A port of the sensor that is used for

communication. This is usually 2111 or

2122.

UInt_16

[0, 65535]

Interface Type

The interface type for the connection be-

tween LiDAR-LOC and the sensor.

Enum

0 TCP

Reserved

Reserved field set to 0

UInt_8

0

active

This sensor is used for localization. The sen-

sor with the index 0 always must be 1 (true).

Bool_1

0 false

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

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

configured.

Bool_1

0 failed

1 success

Executed

Result

The sensor driver started and received data.

Bool_1

0 failed

1 success

Example:

Value description

 Set result: 1

 Executed result: 0

Response:

sAN DevSetLidarConfig 1 0

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2.3.2 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

load.

String

Max length 255

Example:

Load a map with the following parameters:

 Map file name: our_hall.smap

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

configured.

Bool_1

0 failed

1 success

Executed

Result

The map is loaded.

Bool_1

0 failed

1 success

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2.3.3 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.

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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2.3.4 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.

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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2.3.5 Command: LocForceUpdate

Forces an update of the localization. Use the manual update cautiously. The vehicle may localize in a

wrong position. Visual inspection is needed. Slight rotatation of the vehicle on the spot or moving the vehi-

cle around the area by up to 5 meters is preferred.

Request Write

Telegram syntax: sMN LocForceUpdate

Telegram part

Description

Type

Range/Value

Command type

Method by name

String

sMN

Command

String

LocForceUpdate

Example:

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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2.3.6 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

[-180000,180000] [mdeg]

Uncertainty

Translation Uncertainty [mm]

The rotational uncertainty is fixed.

UInt_16

[1, 50000] [mm]

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

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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2.3.7 Command: LocSetReflectorsForSupportActive

Enable or disable the use of mapped reflectors for map-based localization robustification.

Request Write

Telegram syntax: sMN LocSetReflectorsForSupportActive

part

Description

Type

Range/Value

Command

type

Method by name

String

sMN

Command

String

LocSetReflectorsForSupportAc-

tive

Reflectors

The map-based localization uses mapped

reflectors for robustification.

Bool_1

0 false

1 true

Example:

Set the reflectors for support:

active: true

sMN LocSetReflectorsForSupportActive 1

Response

Telegram syntax: sAN LocSetReflectorsForSupportActive

Telegram part

Description

Type

Range/Value

Command type

Response (Method by name)

String

sAN

Command

String

LocSetReflectorsForSup-

portActive

Result

The mapped reflectors are active.

Bool_1

0 failed

1 success

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2.3.8 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.

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-

fully.

Bool_1

0 failed

1 success

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SICK Telegram listing Operating instructions

SICK Telegram listing Operating instructions

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