diff --git a/.gitignore b/.gitignore index 49a4808..f705d6a 100644 --- a/.gitignore +++ b/.gitignore @@ -31,11 +31,30 @@ *.out *.app -test/ros1_scripts/log/ -test/ros1_scripts/log/cola_examples/ -test/ros1_scripts/log/error_simu/ -test/ros2_scripts/log/ -test/ros2_scripts/log/cola_examples/ -test/ros2_scripts/log/error_simu/ - -package\.xml +build +package.xml + +archive + +doc/specifications/arbeitspakete_20210708_backlog.md +doc/specifications/arbeitspakete_20210713.png +doc/specifications/2021-07-13-cola_interface.html +doc/specifications/2021-07-13-LLS2_UDP_input_output.pdf +doc/specifications/20210721_*.png +doc/specifications/2021-07-15-extranet-LLS2 +doc/specifications/2021-06-09_User_interface_REST.pdf +doc/specifications/2021-06-23_TI_Telegram_listing_en-us-version1.5.pdf +doc/specifications/20211013-*.* +doc/issues +doc/20210721_Lidarloc_setup.md +doc/20210721_rest_api_test.pptx +doc/20210726_rest_api_test.pptx +doc/*_lidar_localization2.pptx + +test/scripts/wireshark.cmd + +test/data/wireshark/20210727_*.* +test/data/wireshark/20210921-*.* +test/data/wireshark/20210923-*.* + + diff --git a/CMakeLists.txt b/CMakeLists.txt index 0d1942f..b1bf503 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,45 +1,38 @@ -# cmake_minimum_required(VERSION 2.8.3) cmake_minimum_required(VERSION 3.5) project(sick_lidar_localization) -## Compile as C++14, supported in ROS Kinetic and newer +##################### +## Compile options ## +##################### + +## Compile as C++14 set(CMAKE_CXX_STANDARD 14) -add_compile_options(-std=c++14 -g -Wall -Wno-reorder -Wno-sign-compare -Wno-unused-local-typedefs -Wno-unused-parameter) +if(WIN32) + add_compile_options(-D_CRT_SECURE_NO_WARNINGS) + set(WIN_LIBRARIES Ws2_32) +else() + add_compile_options(-std=c++14 -g -Wall -Wno-reorder -Wno-sign-compare -Wno-unused-local-typedefs -Wno-unused-parameter -Wno-unused-function -Wno-unused-result) + # add_compile_options(-Wshadow) # Note: compiler option -Wshadow generates a lot of warnings in ros header files. Therefore it's deactivated by default, but can be usefull for development and testing. + set(LINUX_LIBRARIES pthread) # gcc maps std::thread to pthread, using std::thread requires linking with pthread +endif() if("${CMAKE_BUILD_TYPE}" STREQUAL "Release") add_compile_options(-O3) endif() -if("${CMAKE_BUILD_TYPE}" STREQUAL "Debug") - add_compile_options(-g) -endif() - if(DEFINED ROS_VERSION) add_compile_options(-D__ROS_VERSION=${ROS_VERSION}) +else() + add_compile_options(-D__ROS_VERSION=0) endif() -## catkin and colcon packages -# message("cmake option ROS_VERSION=${ROS_VERSION}") -if(ROS_VERSION EQUAL 1) +####################### +## Required packages ## +####################### - ## Find catkin macros and libraries - ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) - ## is used, also find other catkin packages - find_package(catkin REQUIRED COMPONENTS - # cmake_modules # Note: find_package(catkin ... "cmake_modules" ...) causes cmake error "Target ... links to target "UUID::UUID", caused by some dependency issue with gazebo - # see https://bitbucket.org/ignitionrobotics/ign-cmake/issues/40/target-uuid-uuid-does-not-exist for further details - message_generation - message_runtime - roscpp - rospy - geometry_msgs - nav_msgs - sensor_msgs - std_msgs - tf - ) - +## ROS 1 resp. ROS2 packages +if(ROS_VERSION EQUAL 1) + find_package(catkin REQUIRED COMPONENTS message_generation message_runtime roscpp rospy geometry_msgs nav_msgs sensor_msgs std_msgs tf) elseif(ROS_VERSION EQUAL 2) - find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(rosidl_default_generators REQUIRED) @@ -49,456 +42,100 @@ elseif(ROS_VERSION EQUAL 2) find_package(std_msgs REQUIRED) find_package(tf2 REQUIRED) find_package(tf2_ros REQUIRED) - -else() - message(SEND_ERROR "ROS_VERSION not configured or unsupported, run with --cmake-args -DROS_VERSION=1 on ROS1 or --cmake-args -DROS_VERSION=2 on ROS2") -endif() - -## System dependencies are found with CMake's conventions -find_package(Boost REQUIRED COMPONENTS system thread) -find_package(Doxygen) -# find_package(OpenCV 3 REQUIRED) -# find_package(cmake_modules REQUIRED) # find_package(cmake_modules) required for TinyXML. find_package(catkin ... "cmake_modules" ...) causes issues by gazebo dependencies (see note above). -# find_package(TinyXML REQUIRED) -# find_package(cv_bridge REQUIRED) - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -if(ROS_VERSION EQUAL 1) - - ## To declare and build messages, services or actions from within this - ## package, follow these steps: - ## * Let MSG_DEP_SET be the set of packages whose message types you use in - ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). - ## * In the file package.xml: - ## * add a build_depend tag for "message_generation" - ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET - ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in - ## but can be declared for certainty nonetheless: - ## * add a exec_depend tag for "message_runtime" - ## * In this file (CMakeLists.txt): - ## * add "message_generation" and every package in MSG_DEP_SET to - ## find_package(catkin REQUIRED COMPONENTS ...) - ## * add "message_runtime" and every package in MSG_DEP_SET to - ## catkin_package(CATKIN_DEPENDS ...) - ## * uncomment the add_*_files sections below as needed - ## and list every .msg/.srv/.action file to be processed - ## * uncomment the generate_messages entry below - ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - - ## Generate messages in the 'msg' folder - add_message_files( - FILES - SickLocColaTelegramMsg.msg - SickLocDiagnosticMsg.msg - SickLocResultPortHeaderMsg.msg - SickLocResultPortPayloadMsg.msg - SickLocResultPortCrcMsg.msg - SickLocResultPortTelegramMsg.msg - SickLocResultPortTestcaseMsg.msg - ) - - ## Generate services in the 'srv' folder - add_service_files( - FILES - # Servicefiles supported in release 3 and later - SickLocColaTelegramSrv.srv - SickLocRequestTimestampSrv.srv - SickLocSetResultModeSrv.srv - SickLocSetResultPoseIntervalSrv.srv - SickLocIsSystemReadySrv.srv - SickLocSetPoseSrv.srv - SickLocSetResultPortSrv.srv - SickLocStartLocalizingSrv.srv - SickLocStopSrv.srv - SickLocRequestResultDataSrv.srv - SickLocSetResultEndiannessSrv.srv - SickLocSetResultPoseEnabledSrv.srv - SickLocStateSrv.srv - SickLocTimeSyncSrv.srv - # Servicefiles supported in release 4 and later - SickDevGetLidarConfigSrv.srv - SickDevGetLidarIdentSrv.srv - SickDevGetLidarStateSrv.srv - SickDevSetLidarConfigSrv.srv - SickGetSoftwareVersionSrv.srv - SickLocAutoStartActiveSrv.srv - SickLocAutoStartSavePoseIntervalSrv.srv - SickLocAutoStartSavePoseSrv.srv - SickLocForceUpdateSrv.srv - SickLocInitializePoseSrv.srv - SickLocInitialPoseSrv.srv - SickLocMapSrv.srv - SickLocMapStateSrv.srv - SickLocOdometryActiveSrv.srv - SickLocOdometryPortSrv.srv - SickLocOdometryRestrictYMotionSrv.srv - SickLocReflectorsForSupportActiveSrv.srv - SickLocResultEndiannessSrv.srv - SickLocResultModeSrv.srv - SickLocResultPortSrv.srv - SickLocResultPoseIntervalSrv.srv - SickLocResultStateSrv.srv - SickLocRingBufferRecordingActiveSrv.srv - SickLocSaveRingBufferRecordingSrv.srv - SickLocSetAutoStartActiveSrv.srv - SickLocSetAutoStartSavePoseIntervalSrv.srv - SickLocSetMapSrv.srv - SickLocSetOdometryActiveSrv.srv - SickLocSetOdometryPortSrv.srv - SickLocSetOdometryRestrictYMotionSrv.srv - SickLocSetReflectorsForSupportActiveSrv.srv - SickLocSetRingBufferRecordingActiveSrv.srv - SickLocStartDemoMappingSrv.srv - SickReportUserMessageSrv.srv - SickSavePermanentSrv.srv - SickDevSetIMUActiveSrv.srv - SickDevIMUActiveSrv.srv - ) - - ## Generate actions in the 'action' folder - # add_action_files( - # FILES - # Action1.action - # Action2.action - # ) - - ## Generate added messages and services with any dependencies listed here - generate_messages( - DEPENDENCIES - geometry_msgs - nav_msgs - sensor_msgs - std_msgs - ) - -elseif(ROS_VERSION EQUAL 2) - - rosidl_generate_interfaces(${PROJECT_NAME} - "msg/SickLocColaTelegramMsg.msg" - "msg/SickLocDiagnosticMsg.msg" - "msg/SickLocResultPortHeaderMsg.msg" - "msg/SickLocResultPortPayloadMsg.msg" - "msg/SickLocResultPortCrcMsg.msg" - "msg/SickLocResultPortTelegramMsg.msg" - "msg/SickLocResultPortTestcaseMsg.msg" - # Servicefiles supported in release 3 and later - "srv/SickLocColaTelegramSrv.srv" - "srv/SickLocRequestTimestampSrv.srv" - "srv/SickLocSetResultModeSrv.srv" - "srv/SickLocSetResultPoseIntervalSrv.srv" - "srv/SickLocIsSystemReadySrv.srv" - "srv/SickLocSetPoseSrv.srv" - "srv/SickLocSetResultPortSrv.srv" - "srv/SickLocStartLocalizingSrv.srv" - "srv/SickLocStopSrv.srv" - "srv/SickLocRequestResultDataSrv.srv" - "srv/SickLocSetResultEndiannessSrv.srv" - "srv/SickLocSetResultPoseEnabledSrv.srv" - "srv/SickLocStateSrv.srv" - "srv/SickLocTimeSyncSrv.srv" - # Servicefiles supported in release 4 and later - "srv/SickDevGetLidarConfigSrv.srv" - "srv/SickDevGetLidarIdentSrv.srv" - "srv/SickDevGetLidarStateSrv.srv" - "srv/SickDevSetLidarConfigSrv.srv" - "srv/SickGetSoftwareVersionSrv.srv" - "srv/SickLocAutoStartActiveSrv.srv" - "srv/SickLocAutoStartSavePoseIntervalSrv.srv" - "srv/SickLocAutoStartSavePoseSrv.srv" - "srv/SickLocForceUpdateSrv.srv" - "srv/SickLocInitializePoseSrv.srv" - "srv/SickLocInitialPoseSrv.srv" - "srv/SickLocMapSrv.srv" - "srv/SickLocMapStateSrv.srv" - "srv/SickLocOdometryActiveSrv.srv" - "srv/SickLocOdometryPortSrv.srv" - "srv/SickLocOdometryRestrictYMotionSrv.srv" - "srv/SickLocReflectorsForSupportActiveSrv.srv" - "srv/SickLocResultEndiannessSrv.srv" - "srv/SickLocResultModeSrv.srv" - "srv/SickLocResultPortSrv.srv" - "srv/SickLocResultPoseIntervalSrv.srv" - "srv/SickLocResultStateSrv.srv" - "srv/SickLocRingBufferRecordingActiveSrv.srv" - "srv/SickLocSaveRingBufferRecordingSrv.srv" - "srv/SickLocSetAutoStartActiveSrv.srv" - "srv/SickLocSetAutoStartSavePoseIntervalSrv.srv" - "srv/SickLocSetMapSrv.srv" - "srv/SickLocSetOdometryActiveSrv.srv" - "srv/SickLocSetOdometryPortSrv.srv" - "srv/SickLocSetOdometryRestrictYMotionSrv.srv" - "srv/SickLocSetReflectorsForSupportActiveSrv.srv" - "srv/SickLocSetRingBufferRecordingActiveSrv.srv" - "srv/SickLocStartDemoMappingSrv.srv" - "srv/SickReportUserMessageSrv.srv" - "srv/SickSavePermanentSrv.srv" - "srv/SickDevSetIMUActiveSrv.srv" - "srv/SickDevIMUActiveSrv.srv" - DEPENDENCIES builtin_interfaces std_msgs - ) - -else() - message(SEND_ERROR "ROS_VERSION not configured or unsupported, run with --cmake-args -DROS_VERSION=1 on ROS1 or --cmake-args -DROS_VERSION=2 on ROS2") -endif() - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -if(ROS_VERSION EQUAL 1) - catkin_package( - INCLUDE_DIRS include - LIBRARIES sick_localization_lib - CATKIN_DEPENDS message_runtime roscpp rospy geometry_msgs nav_msgs sensor_msgs std_msgs - ) -endif() +endif() + +## packages required by sick_lidar_localization +find_package(CURL REQUIRED) # install libcurl by running "sudo apt-get install libcurl-dev" (Linux) resp. "vcpkg install curl[tool]:x64-windows" (Windows) +find_package(jsoncpp REQUIRED) # install libjsoncpp by running "sudo apt-get install libjsoncpp-dev" (Linux) resp. "vcpkg install jsoncpp:x64-windows" (Windows) + +############################### +## ROS messages and services ## +############################### + +if(ROS_VERSION EQUAL 1) + file(GLOB MSG_FILES LIST_DIRECTORIES false RELATIVE ${PROJECT_SOURCE_DIR}/msg msg/*.msg) + add_message_files(FILES ${MSG_FILES}) + file(GLOB SRV_FILES LIST_DIRECTORIES false RELATIVE ${PROJECT_SOURCE_DIR}/srv srv/*.srv) + add_service_files(FILES ${SRV_FILES}) + generate_messages(DEPENDENCIES geometry_msgs nav_msgs sensor_msgs std_msgs) + catkin_package(INCLUDE_DIRS include LIBRARIES sick_localization_lib CATKIN_DEPENDS message_runtime roscpp rospy geometry_msgs nav_msgs sensor_msgs std_msgs) +elseif(ROS_VERSION EQUAL 2) + file(GLOB MSG_FILES LIST_DIRECTORIES false RELATIVE ${PROJECT_SOURCE_DIR} msg/*.msg) + file(GLOB SRV_FILES LIST_DIRECTORIES false RELATIVE ${PROJECT_SOURCE_DIR} srv/*.srv) + rosidl_generate_interfaces(${PROJECT_NAME} ${MSG_FILES} ${SRV_FILES} DEPENDENCIES builtin_interfaces std_msgs) +endif() ########### ## Build ## ########### -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( - include - test/include - ${catkin_INCLUDE_DIRS} - ${BOOST_INCLUDE_DIRS} - # ${TinyXML_INCLUDE_DIRS} - # ${OpenCV_INCLUDE_DIRS} -) +## include path +include_directories(include include/tinyxml ${catkin_INCLUDE_DIRS} ${CURL_INCLUDE_DIRS}) -## Declare a C++ library -add_library(sick_localization_lib - src/client_socket.cpp - src/cola_configuration.cpp - src/cola_converter.cpp - src/cola_encoder.cpp - src/cola_parser.cpp - src/cola_services.cpp - src/cola_transmitter.cpp - src/driver_check_thread.cpp - src/driver_monitor.cpp - src/driver_thread.cpp - src/odom_converter.cpp - src/pointcloud_converter_thread.cpp - src/random_generator.cpp - src/result_port_parser.cpp - src/ros_wrapper.cpp - src/SoftwarePLL.cpp - src/testcase_generator.cpp - src/time_sync_service.cpp - src/utils.cpp - src/crc/crc16ccitt_false.cpp - ) +## sick_lidar_localization library +if(ROS_VERSION EQUAL 2) # AND WIN32) + set(LIB_TYPE STATIC) +endif() +add_library(sick_localization_lib ${LIB_TYPE} + src/curl_wrapper.cpp + src/json_parser.cpp + src/launchparser/launchparser.cpp + src/sick_lidar_localization.cpp + src/sick_ros_wrapper.cpp + src/sick_services.cpp + src/SoftwarePLL.cpp + src/udp_message_parser.cpp + src/udp_receiver_thread.cpp + src/udp_sender.cpp + src/tinyxml/tinystr.cpp + src/tinyxml/tinyxml.cpp + src/tinyxml/tinyxmlerror.cpp + src/tinyxml/tinyxmlparser.cpp +) +target_link_libraries(sick_localization_lib ${CURL_LIBRARIES} jsoncpp_lib ${catkin_LIBRARIES} ${LINUX_LIBRARIES} ${WIN_LIBRARIES}) -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -## -## Executables for ros driver sick_lidar_localization -add_executable(sim_loc_driver src/driver.cpp) -add_executable(sim_loc_driver_check src/driver_check.cpp) -add_executable(pointcloud_converter src/pointcloud_converter.cpp) +## Executables +add_executable(sick_lidar_localization_main src/sick_lidar_localization_main.cpp) +set_target_properties(sick_lidar_localization_main PROPERTIES OUTPUT_NAME sick_lidar_localization) +target_link_libraries(sick_lidar_localization_main sick_localization_lib ${CURL_LIBRARIES} jsoncpp_lib ${catkin_LIBRARIES}) -## Executables for test purposes -add_executable(sim_loc_test_server test/src/test_server.cpp test/src/test_server_thread.cpp) -add_executable(unittest_sim_loc_parser test/src/unittest_sim_loc_parser.cpp) -add_executable(verify_sim_loc_driver test/src/verify_sim_loc_driver.cpp test/src/verifier_thread.cpp) +add_executable(gen_service_call src/gen_service_call.cpp) +target_link_libraries(gen_service_call sick_localization_lib ${CURL_LIBRARIES} jsoncpp_lib ${catkin_LIBRARIES}) -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") +if(ROS_VERSION GREATER 0) + add_executable(pointcloud_converter src/pointcloud_converter.cpp src/pointcloud_converter_thread.cpp) + target_link_libraries(pointcloud_converter sick_localization_lib ${CURL_LIBRARIES} jsoncpp_lib ${catkin_LIBRARIES}) +endif() -## Add cmake target dependencies of the executable -## same as for the library above if(ROS_VERSION EQUAL 1) - - add_dependencies(sick_localization_lib - ${${PROJECT_NAME}_EXPORTED_TARGETS} - ${catkin_EXPORTED_TARGETS} - ) - add_dependencies(sim_loc_driver - sick_localization_lib - ${${PROJECT_NAME}_EXPORTED_TARGETS} - ${catkin_EXPORTED_TARGETS} - ) - add_dependencies(sim_loc_driver_check - sick_localization_lib - ${${PROJECT_NAME}_EXPORTED_TARGETS} - ${catkin_EXPORTED_TARGETS} - ) - add_dependencies(sim_loc_test_server - sick_localization_lib - ${${PROJECT_NAME}_EXPORTED_TARGETS} - ${catkin_EXPORTED_TARGETS} - ) - add_dependencies(pointcloud_converter - sick_localization_lib - ${${PROJECT_NAME}_EXPORTED_TARGETS} - ${catkin_EXPORTED_TARGETS} - ) - add_dependencies(unittest_sim_loc_parser - sick_localization_lib - ${${PROJECT_NAME}_EXPORTED_TARGETS} - ${catkin_EXPORTED_TARGETS} - ) - add_dependencies(verify_sim_loc_driver - sick_localization_lib - ${${PROJECT_NAME}_EXPORTED_TARGETS} - ${catkin_EXPORTED_TARGETS} - ) - + add_dependencies(sick_localization_lib ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + add_dependencies(sick_lidar_localization_main sick_localization_lib ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + add_dependencies(pointcloud_converter sick_localization_lib ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) elseif(ROS_VERSION EQUAL 2) - ament_target_dependencies(sick_localization_lib rclcpp geometry_msgs nav_msgs sensor_msgs std_msgs tf2_ros) rosidl_target_interfaces(sick_localization_lib ${PROJECT_NAME} "rosidl_typesupport_cpp") - + ament_target_dependencies(pointcloud_converter rclcpp geometry_msgs nav_msgs sensor_msgs std_msgs tf2_ros) + rosidl_target_interfaces(pointcloud_converter ${PROJECT_NAME} "rosidl_typesupport_cpp") else() - message(SEND_ERROR "ROS_VERSION not configured or unsupported, run with --cmake-args -DROS_VERSION=1 on ROS1 or --cmake-args -DROS_VERSION=2 on ROS2") -endif() - -## Specify libraries to link a library or executable target against -target_link_libraries(sick_localization_lib - ${Boost_LIBRARIES} - ${catkin_LIBRARIES} - ) -target_link_libraries(sim_loc_driver - sick_localization_lib - ${Boost_LIBRARIES} - ${catkin_LIBRARIES} - ) -target_link_libraries(sim_loc_driver_check - sick_localization_lib - ${Boost_LIBRARIES} - ${catkin_LIBRARIES} - ) -target_link_libraries(sim_loc_test_server - sick_localization_lib - ${Boost_LIBRARIES} - ${catkin_LIBRARIES} - ) -target_link_libraries(pointcloud_converter - sick_localization_lib - ${Boost_LIBRARIES} - ${catkin_LIBRARIES} - ) -target_link_libraries(unittest_sim_loc_parser - sick_localization_lib - ${Boost_LIBRARIES} - ${catkin_LIBRARIES} - ) -target_link_libraries(verify_sim_loc_driver - sick_localization_lib - ${Boost_LIBRARIES} - ${catkin_LIBRARIES} - ) + add_dependencies(sick_lidar_localization_main sick_localization_lib) +endif() ############# ## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html +############# -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) if(ROS_VERSION EQUAL 1) - - ## Mark executables and/or libraries for installation - install(TARGETS sick_localization_lib sim_loc_driver sim_loc_driver_check sim_loc_test_server pointcloud_converter unittest_sim_loc_parser verify_sim_loc_driver - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) - - ## Mark cpp header files for installation - install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.h" - PATTERN ".svn" EXCLUDE - ) - - ## Mark other files for installation (e.g. launch and bag files, etc.) - install(DIRECTORY - launch - yaml - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} - ) - + install(TARGETS sick_localization_lib sick_lidar_localization_main gen_service_call pointcloud_converter ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} FILES_MATCHING PATTERN "*.h*") + install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) elseif(ROS_VERSION EQUAL 2) - ament_export_dependencies(sick_localization_lib rclcpp geometry_msgs nav_msgs sensor_msgs std_msgs tf2_ros) ament_export_include_directories(include/${PROJECT_NAME}/) - ament_export_libraries(sick_localization_lib sim_loc_driver sim_loc_driver_check sim_loc_test_server pointcloud_converter unittest_sim_loc_parser verify_sim_loc_driver) + ament_export_libraries(sick_localization_lib sick_lidar_localization_main) ament_package() - - # install targets and launch files - install(TARGETS - sick_localization_lib sim_loc_driver sim_loc_driver_check sim_loc_test_server pointcloud_converter unittest_sim_loc_parser verify_sim_loc_driver - DESTINATION lib/${PROJECT_NAME} - ) - install(DIRECTORY - launch - yaml - DESTINATION share/${PROJECT_NAME} - ) - -endif() - -############# -## Doxygen ## -############# - -if (DOXYGEN_FOUND) - set(DOXYGEN_IN ${CMAKE_CURRENT_SOURCE_DIR}/doc/Doxyfile.in) - set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile) - configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY) - add_custom_target(RunDoxygen - COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT} - WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR} - VERBATIM ) - message(STATUS "Doxygen found, doxygen documentation will be generated in folder ${DOXYGEN_OUT}") -else () - message(STATUS "Doxygen not found, doxygen documentation will not be generated.") -endif () - + # install(TARGETS sick_localization_lib sick_lidar_localization_main gen_service_call pointcloud_converter DESTINATION lib) + install(TARGETS sick_localization_lib sick_lidar_localization_main gen_service_call pointcloud_converter DESTINATION lib/${PROJECT_NAME}) + install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) +else() + install(DIRECTORY launch DESTINATION ${CMAKE_BINARY_DIR}) +endif() diff --git a/LICENSE b/LICENSE deleted file mode 100644 index 261eeb9..0000000 --- a/LICENSE +++ /dev/null @@ -1,201 +0,0 @@ - Apache License - Version 2.0, January 2004 - http://www.apache.org/licenses/ - - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - - 1. 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It supports both ROS1 and ROS2 on Linux. - -The LiDAR-LOC software has to be purchased separately. - -## Install and build on ROS1 - -To install and build ROS1 support for SICK LiDAR Localization, run the following commands: - -```console -cd ~/catkin_ws/src -# sudo apt-get install expect # install unbuffer for logging console output, development only -# git clone https://github.com/madler/crcany.git # get crc implementation, development only -# git clone https://github.com/michael1309/sick_lidar_localization_pretest.git # sick_lidar_localization development -git clone https://github.com/SICKAG/sick_lidar_localization.git # sick_lidar_localization release version -cd .. -source /opt/ros/melodic/setup.bash -cp ./src/sick_lidar_localization/package_ros1.xml ./src/sick_lidar_localization/package.xml -catkin_make --cmake-args -DROS_VERSION=1 -catkin_make install --cmake-args -DROS_VERSION=1 -source ./devel/setup.bash -``` - -## Install and build on ROS2 - -To install and build ROS2 support for SICK LiDAR Localization, run the following commands: - -```console -cd ~/catkin_ws/src -# sudo apt-get install expect # install unbuffer for logging console output, development only -# git clone https://github.com/madler/crcany.git # get crc implementation, development only -# git clone https://github.com/michael1309/sick_lidar_localization_pretest.git # sick_lidar_localization development -git clone https://github.com/SICKAG/sick_lidar_localization.git # sick_lidar_localization release version -cd .. -source /opt/ros/eloquent/setup.bash -# export CMAKE_PREFIX_PATH=$AMENT_PREFIX_PATH:$CMAKE_PREFIX_PATH # export CMAKE_PREFIX_PATH can be required depending on system settings -cp ./src/sick_lidar_localization/package_ros2.xml ./src/sick_lidar_localization/package.xml -BUILDTYPE=Debug -colcon build --packages-select sick_lidar_localization --cmake-args " -DROS_VERSION=2" " -DCMAKE_BUILD_TYPE=$BUILDTYPE" -source ./install/setup.bash -``` - -## Run on ROS1 - -To run SICK LiDAR Localization under ROS1, install the SICK localization controller and run the ros driver: - -1. Install and run the SICK localization controller. See [doc/Quickstart-Setup-SOPASair.md](doc/Quickstart-Setup-SOPASair.md) -for a quickstart. Find detailed information in the operation manuals published on -https://supportportal.sick.com/Product_notes/lidar-loc-operation-instruction/. - -2. Start the sick_lidar_localization driver: - -```console -cd ~/catkin_ws -source ./devel/setup.bash -roslaunch sick_lidar_localization sim_loc_driver.launch localization_controller_ip_address:=192.168.0.1 -``` - -Note: The IP address of the SICK localization controller is 192.168.0.1 by default. Depending on your network configuration, -different IP addresses can be configured by commandline argument `localization_controller_ip_address:=` or -by changing the value `localization_controller_default_ip_address: ""` in the drivers configuration file -[yaml/sim_loc_driver.yaml](yaml/sim_loc_driver.yaml). - -The sick_lidar_localization driver connects to the localization controller, receives result port telegrams and publishes -them on ros topic "/sick_lidar_localization/driver/result_telegrams". After successful installation, you can view the telegram -messages with - -```console -rostopic echo "/sick_lidar_localization/driver/result_telegrams" -``` - -## Run on ROS2 - -To run SICK LiDAR Localization under ROS2, install the SICK localization controller and run the ros driver: - -1. Install and run the SICK localization controller. See [doc/Quickstart-Setup-SOPASair.md](doc/Quickstart-Setup-SOPASair.md) -for a quickstart. Find detailed information in the operation manuals published on -https://supportportal.sick.com/Product_notes/lidar-loc-operation-instruction/. - -2. Start the sick_lidar_localization driver: - -```console -cd ~/catkin_ws -source ./install/setup.bash -LD_LIBRARY_PATH=$COLCON_PREFIX_PATH/sick_lidar_localization/lib/sick_lidar_localization:$LD_LIBRARY_PATH # set LD_LIBRARY_PATH can be required depending on ros version -export localization_controller_ip_address=192.168.0.1 -ros2 launch sick_lidar_localization sim_loc_driver.launch.py -``` - -Note: The IP address of the SICK localization controller is 192.168.0.1 by default. Depending on your network configuration, -different IP addresses can be set by environment variable `localization_controller_ip_address=` or -by changing the value `localization_controller_default_ip_address: ""` in the drivers launch file -[launch/sim_loc_driver.launch.py](launch/sim_loc_driver.launch.py). - -The sick_lidar_localization driver connects to the localization controller, receives result port telegrams and publishes -them on ros topic "/sick_lidar_localization/driver/result_telegrams". After successful installation, you can view the telegram -messages with - -```console -ros2 topic echo "/sick_lidar_localization/driver/result_telegrams" -``` - -## LiDAR-LOC configuration - -The LiDAR localization and the controller can be configured by Cola telegrams. -Find detailed information in the Telegram Listing published on -https://supportportal.sick.com/Product_notes/lls-telegram-listing/. - -### LiDAR-LOC specialized ROS services - -The operations below are implemented by specialized ros services defined in folder srv. These services create and -transmit the corresponding cola telegram to the controller and converts the parameter. Naming convention: -A service named is defined in file srv/Srv.srv, f.e. command "LocStartLocalizing" is implemented -by ros service "SickLocStartLocalizing" defined in file "srv/SickLocStartLocalizingSrv.srv". - -Request : ros service | Description ---- | --- -**States Telegrams**| -IsSystemReady : [SickLocIsSystemReady](srv/SickLocIsSystemReadySrv.srv) | Check if the system is ready -LocState : [SickLocState](srv/SickLocStateSrv.srv) | Read localization state -LocStartLocalizing : [SickLocStartLocalizing](srv/SickLocStartLocalizingSrv.srv) | Start localization -LocStop : [SickLocStop](srv/SickLocStopSrv.srv) | Stop localization or demo mapping -**Result Output Configuration Telegrams**|| -LocSetResultPort : [SickLocSetResultPort](srv/SickLocSetResultPortSrv.srv) | Set TCP-port for result output (default: 2201) -LocSetResultMode : [SickLocSetResultMode](srv/SickLocSetResultModeSrv.srv) | Set mode of result output (default: stream) -LocSetResultPoseEnabled : [SickLocSetResultPoseEnabled](srv/SickLocSetResultPoseEnabledSrv.srv) | Disable/enable result output -LocSetResultEndianness : [SickLocSetResultEndianness](srv/SickLocSetResultEndiannessSrv.srv) | Set endianness of result output -LocSetResultPoseInterval : [SickLocSetResultPoseInterval](srv/SickLocSetResultPoseIntervalSrv.srv) | Set interval of result output -LocRequestResultData : [SickLocRequestResultData](srv/SickLocRequestResultDataSrv.srv) | If in poll mode, trigger sending the localization result of the next processed scan via TCP interface. -**SetPose Telegrams**| -LocSetPose : [SickLocSetPose](srv/SickLocSetPoseSrv.srv) | Initialize vehicle pose -**Timestamp Telegrams**| -LocRequestTimestamp : [SickLocRequestTimestamp](srv/SickLocRequestTimestampSrv.srv) | Query timestamp, see "Time synchronization" -**Advanced services in release 4 and later**| -DevGetLidarConfig : [SickDevGetLidarConfig](srv/SickDevGetLidarConfigSrv.srv) | Reads the configuration for a lidar -DevGetLidarIdent : [SickDevGetLidarIdent](srv/SickDevGetLidarIdentSrv.srv) | Returns the scanner ident of the specified lidar. -DevGetLidarState : [SickDevGetLidarState](srv/SickDevGetLidarStateSrv.srv) | Returns the lidar state of the given lidar. -DevIMUActive : [SickDevIMUActive](srv/SickDevIMUActiveSrv.srv) | Read IMU Active status -DevSetIMUActive : [SickDevSetIMUActive](srv/SickDevSetIMUActiveSrv.srv) | Set IMU Active -DevSetLidarConfig : [SickDevSetLidarConfig](srv/SickDevSetLidarConfigSrv.srv) | Sets the configuration for a lidar -GetSoftwareVersion : [SickGetSoftwareVersion](srv/SickGetSoftwareVersionSrv.srv) | Returns the version string of the localization system. -LocAutoStartActive : [SickLocAutoStartActive](srv/SickLocAutoStartActiveSrv.srv) | Returns whether autostart is used or not. -LocAutoStartSavePose : [SickLocAutoStartSavePose](srv/SickLocAutoStartSavePoseSrv.srv) | Saves the current pose. If no further pose writing occurs the system will reinitialize itself at this position on restart if LocAutoStart is enabled. -LocAutoStartSavePoseInterval : [SickLocAutoStartSavePoseInterval](srv/SickLocAutoStartSavePoseIntervalSrv.srv) | Returns the interval in seconds for saving the pose automatically for auto start while localizing -LocForceUpdate : [SickLocForceUpdate](srv/SickLocForceUpdateSrv.srv) | Forces an update of the map localization with the next scan. This should be used with care because it is not garanteed that this converges to the correct pose. Moving the LiDAR instead should be preferred because it produces more robust updates. -LocInitializePose : [SickLocInitializePose](srv/SickLocInitializePoseSrv.srv) | Automatically adjusts the given input pose according to the map of the environment and the current LiDAR measurements. -LocInitialPose : [SickLocInitialPose](srv/SickLocInitialPoseSrv.srv) | Reads the initial pose -LocMap : [SickLocMap](srv/SickLocMapSrv.srv) | Returns the currently loaded map -LocMapState : [SickLocMapState](srv/SickLocMapStateSrv.srv) | Reads the current state of the map. 0: not active, 1: active. -LocOdometryActive : [SickLocOdometryActive](srv/SickLocOdometryActiveSrv.srv) | Returns the usage of odometry data in Scan Matching -LocOdometryPort : [SickLocOdometryPort](srv/SickLocOdometryPortSrv.srv) | Returns the UDP port of the UDP socket for odometry measurement input. -LocOdometryRestrictYMotion : [SickLocOdometryRestrictYMotion](srv/SickLocOdometryRestrictYMotionSrv.srv) | Returns the variable that Indicates that the vehicle will be able to move in Y-Direction or not. If true the mounting pose of the sensor matters. For omnidirektional vehicles this must be set to false. -LocReflectorsForSupportActive : [SickLocReflectorsForSupportActive](srv/SickLocReflectorsForSupportActiveSrv.srv) | Returns usage of mapped reflectors for map based localization robustification -LocResultEndianness : [SickLocResultEndianness](srv/SickLocResultEndiannessSrv.srv) | Returns the endianness of the result port: 0 BIG_ENDIAN (default), 1 LITTLE_ENDIAN -LocResultMode : [SickLocResultMode](srv/SickLocResultModeSrv.srv) | Returns the current result mode: 0 STREAM (default), 1 POLL -LocResultPort : [SickLocResultPort](srv/SickLocResultPortSrv.srv) | Read the TCP port of the localization controller for result output. -LocResultPoseInterval : [SickLocResultPoseInterval](srv/SickLocResultPoseIntervalSrv.srv) | Reads the interval of the pose result output. -LocResultState : [SickLocResultState](srv/SickLocResultStateSrv.srv) | Returns the output state of the result interface -LocRingBufferRecordingActive : [SickLocRingBufferRecordingActive](srv/SickLocRingBufferRecordingActiveSrv.srv) | Returns whether rolling buffer log file recording is activated or deactivated -LocSaveRingBufferRecording : [SickLocSaveRingBufferRecording](srv/SickLocSaveRingBufferRecordingSrv.srv) | Saves the current sensor data ring buffer as log file. The log file can be downloaded via FTP. -LocSetAutoStartActive : [SickLocSetAutoStartActive](srv/SickLocSetAutoStartActiveSrv.srv) | Sets whether autostart should be used or not. -LocSetAutoStartSavePoseInterval : [SickLocSetAutoStartSavePoseInterval](srv/SickLocSetAutoStartSavePoseIntervalSrv.srv) | Set the interval in seconds for saving the pose automatically for auto start while localizing -LocSetMap : [SickLocSetMap](srv/SickLocSetMapSrv.srv) | Loads a given map -LocSetOdometryActive : [SickLocSetOdometryActive](srv/SickLocSetOdometryActiveSrv.srv) | Enables or disables the usage of odometry data in Scan Matching -LocSetOdometryPort : [SickLocSetOdometryPort](srv/SickLocSetOdometryPortSrv.srv) | Sets the UDP port of the UDP socket for odometry measurement input. -LocSetOdometryRestrictYMotion : [SickLocSetOdometryRestrictYMotion](srv/SickLocSetOdometryRestrictYMotionSrv.srv) | Method to set the variable that Indicates that the vehicle will be able to move in Y-Direction or not. If true the mounting pose of the sensor matters. For omnidirektional vehicles this must be set to false. -LocSetReflectorsForSupportActive : [SickLocSetReflectorsForSupportActive](srv/SickLocSetReflectorsForSupportActiveSrv.srv) | Enables or disables usage of mapped reflectors for map based localization robustification -LocSetRingBufferRecordingActive : [SickLocSetRingBufferRecordingActive](srv/SickLocSetRingBufferRecordingActiveSrv.srv) | Activates or deactivates rolling buffer log file recording on error report -LocStartDemoMapping : [SickLocStartDemoMapping](srv/SickLocStartDemoMappingSrv.srv) | If all conditions are met, starts the demo mapping system. -ReportUserMessage : [SickReportUserMessage](srv/SickReportUserMessageSrv.srv) | Method to report messages to the localization system. -SavePermanent : [SickSavePermanent](srv/SickSavePermanentSrv.srv) | Saves the parameters permanently on the device. They will be reloaded on reboot. - -The following examples show how to call these services under ROS1: - -``` -# ROS1 services for States Telegrams -rosservice call SickLocIsSystemReady "{}" # expected answer: "success: True" # Check if the system is ready -rosservice call SickLocState "{}" # expected answer: "state: 2, success: True" # Read localization state: 0:BOOTING, 1:IDLE, 2:LOCALIZING, 3:DEMO_MAPPING -rosservice call SickLocStop "{}" # expected answer: "success: True" # Stop localization or demo mapping -rosservice call SickLocStartLocalizing "{}" # expected answer: "success: True" # Start localization -# ROS1 services for Result Output Configuration Telegrams -rosservice call SickLocSetResultPort "{port: 2201}" # expected answer: "success: True" # Set TCP-port for result output -rosservice call SickLocSetResultMode "{mode: 0}" # expected answer: "success: True" # Set mode of result output (stream or: poll) -rosservice call SickLocSetResultPoseEnabled "{enabled: 1}" # expected answer: "success: True" # Disable/enable result output -rosservice call SickLocSetResultEndianness "{endianness: 0}" # expected answer: "success: True" # Set endianness of result output -rosservice call SickLocSetResultPoseInterval "{interval: 1}" # expected answer: "success: True" # Set interval of result output -rosservice call SickLocRequestResultData "{}" # expected answer: "success: True" # If in poll mode, trigger sending the localization result of the next processed scan via TCP interface. -# ROS1 services for SetPose Telegrams -rosservice call SickLocSetPose "{posex: 10300, posey: -5200, yaw: 30000, uncertainty: 1000}" # expected answer: "success: True" # Initialize vehicle pose -# ROS1 services for Timestamp Telegrams -rosservice call SickLocRequestTimestamp "{}" # expected reponse: "timestamp_lidar_ms: , mean_time_vehicle_ms: , delta_time_ms: , ..." # Query timestamp, see "Time synchronization" -# ROS1 services release 4 and later -rosservice call SickLocIsSystemReady "{}" # expected reponse: "success: True" -rosservice call SickLocStartLocalizing "{}" # expected reponse: "success: True" -rosservice call SickDevSetLidarConfig "{index: # expected reponse: 0, minrange: 100, maxrange: 200000, minangle: -15000, maxangle: 15000, x: 1000, y: -1000, yaw: 2000, upsidedown: true, ip: 192.168.0.123, port: 2111, interfacetype: 0, maplayer: 0, active: true}" "set: True executed: True" -rosservice call SickDevGetLidarConfig "{scannerindex: # expected reponse: 0}" "minrange: 100 maxrange: 200000 minangle: -15000 maxangle: 15000 x: 1000 y: -1000 yaw: 2000 upsidedown: True ip: \"192.168.0.123\" port: 2111 interfacetype: 0 maplayer: 0 active: True" -rosservice call SickLocSetMap "{mapfilename: # expected reponse: test.map}" "set: True executed: True" -rosservice call SickLocMap "{}" # expected reponse: "map: \"test.map\" success: True" -rosservice call SickLocMapState "{}" # expected reponse: "mapstate: True success: True" -rosservice call SickLocInitializePose "{x: # expected reponse: 100, y: -100, yaw: 2000, sigmatranslation: 1000}" "success: True" -rosservice call SickLocInitialPose "{}" # expected reponse: "x: 100 y: -100 yaw: 2000 sigmatranslation: 1000 success: True" -rosservice call SickLocSetReflectorsForSupportActive "{active: # expected reponse: 1}" "success: True" -rosservice call SickLocReflectorsForSupportActive "{}" # expected reponse: "active: True success: True" -rosservice call SickLocSetOdometryActive "{active: # expected reponse: 1}" "set: True executed: True" -rosservice call SickLocOdometryActive "{}" # expected reponse: "active: True success: True" -rosservice call SickLocSetOdometryPort "{port: # expected reponse: 3000}" "set: True executed: True" -rosservice call SickLocOdometryPort "{}" # expected reponse: "port: 3000 success: True" -rosservice call SickLocSetOdometryRestrictYMotion "{active: # expected reponse: 1}" "success: True" -rosservice call SickLocOdometryRestrictYMotion "{}" # expected reponse: "active: True success: True" -rosservice call SickLocSetAutoStartActive "{active: # expected reponse: 1}" "success: True" -rosservice call SickLocAutoStartActive "{}" # expected reponse: "active: True success: True" -rosservice call SickLocSetAutoStartSavePoseInterval "{interval: # expected reponse: 5}" "success: True" -rosservice call SickLocAutoStartSavePoseInterval "{}" # expected reponse: "interval: 5 success: True" -rosservice call SickLocSetRingBufferRecordingActive "{active: # expected reponse: 1}" "success: True" -rosservice call SickLocRingBufferRecordingActive "{}" # expected reponse: "active: True success: True" -rosservice call SickDevGetLidarIdent "{index: # expected reponse: 0}" "scannerident: \"TestcaseGenerator0\" success: True" -rosservice call SickDevGetLidarState "{index: # expected reponse: 0}" "devicestatus: 2 deviceconnected: 2 receivingdata: 2 success: True" -rosservice call SickGetSoftwareVersion "{}" # expected reponse: "version: \"1.0\" success: True" -rosservice call SickLocAutoStartSavePose "{}" # expected reponse: "success: True" -rosservice call SickLocForceUpdate "{}" # expected reponse: "success: True" -rosservice call SickLocSaveRingBufferRecording "{reason: # expected reponse: test}" "success: True" -rosservice call SickLocStartDemoMapping "{}" # expected reponse: "success: True" -rosservice call SickReportUserMessage "{usermessage: # expected reponse: test_message}" "success: True" -rosservice call SickSavePermanent "{}" # expected reponse: "success: True" -rosservice call SickLocResultPort "{}" # expected reponse: "port: 2201 success: True" -rosservice call SickLocResultMode "{}" # expected reponse: "mode: 0 success: True" -rosservice call SickLocResultEndianness "{}" # expected reponse: "endianness: 0 success: True" -rosservice call SickLocResultState "{}" # expected reponse: "state: 1 success: True" -rosservice call SickLocResultPoseInterval "{}" # expected reponse: "interval: 1 success: True" -rosservice call SickDevSetIMUActive "{active: # expected reponse: 1}" "success: True" -rosservice call SickDevIMUActive "{}" # expected reponse: "active: True success: True" -``` - -The following examples show how to call these services under ROS2: - -``` -# ROS2 services for States Telegrams -ros2 service call SickLocIsSystemReady sick_lidar_localization/srv/SickLocIsSystemReadySrv "{}" # expected answer: "success: True" # Check if the system is ready -ros2 service call SickLocState sick_lidar_localization/srv/SickLocStateSrv "{}" # expected answer: "state: 2, success: True" # Read localization state: 0:BOOTING, 1:IDLE, 2:LOCALIZING, 3:DEMO_MAPPING -ros2 service call SickLocStop sick_lidar_localization/srv/SickLocStopSrv "{}" # expected answer: "success: True" # Stop localization or demo mapping -ros2 service call SickLocStartLocalizing sick_lidar_localization/srv/SickLocStartLocalizingSrv "{}" # expected answer: "success: True" # Start localization -# ROS2 services for Result Output Configuration Telegrams -ros2 service call SickLocSetResultPort sick_lidar_localization/srv/SickLocSetResultPortSrv "{port: 2201}" # expected answer: "success: True" # Set TCP-port for result output -ros2 service call SickLocSetResultMode sick_lidar_localization/srv/SickLocSetResultModeSrv "{mode: 0}" # expected answer: "success: True" # Set mode of result output (stream or: poll) -ros2 service call SickLocSetResultPoseEnabled sick_lidar_localization/srv/SickLocSetResultPoseEnabledSrv "{enabled: 1}" # expected answer: "success: True" # Disable/enable result output -ros2 service call SickLocSetResultEndianness sick_lidar_localization/srv/SickLocSetResultEndiannessSrv "{endianness: 0}" # expected answer: "success: True" # Set endianness of result output -ros2 service call SickLocSetResultPoseInterval sick_lidar_localization/srv/SickLocSetResultPoseIntervalSrv "{interval: 1}" # expected answer: "success: True" # Set interval of result output -ros2 service call SickLocRequestResultData sick_lidar_localization/srv/SickLocRequestResultDataSrv "{}" # expected answer: "success: True" # If in poll mode, trigger sending the localization result of the next processed scan via TCP interface. -# ROS2 services for SetPose Telegrams -ros2 service call SickLocSetPose sick_lidar_localization/srv/SickLocSetPoseSrv "{posex: 10300, posey: -5200, yaw: 30000, uncertainty: 1000}" # expected answer: "success: True" # Initialize vehicle pose -# ROS2 services for Timestamp Telegrams -ros2 service call SickLocRequestTimestamp sick_lidar_localization/srv/SickLocRequestTimestampSrv "{}" # expected reponse: "timestamp_lidar_ms: , mean_time_vehicle_ms: , delta_time_ms: , ..." # Query timestamp, see "Time synchronization" -# ROS2 services release 4 and later -ros2 service call SickLocIsSystemReady sick_lidar_localization/srv/SickLocIsSystemReadySrv "{}" # expected reponse: "success=True" -ros2 service call SickLocStartLocalizing sick_lidar_localization/srv/SickLocStartLocalizingSrv "{}" # expected reponse: "success=True" -ros2 service call SickDevSetLidarConfig sick_lidar_localization/srv/SickDevSetLidarConfigSrv "{index: # expected reponse: 0, minrange: 100, maxrange: 200000, minangle: -15000, maxangle: 15000, x: 1000, y: -1000, yaw: 2000, upsidedown: true, ip: 192.168.0.123, port: 2111, interfacetype: 0, maplayer: 0, active: true}" "set=True, executed=True" -ros2 service call SickDevGetLidarConfig sick_lidar_localization/srv/SickDevGetLidarConfigSrv "{scannerindex: # expected reponse: 0}" "minrange=100, maxrange=200000, minangle=-15000, maxangle=15000, x=1000, y=-1000, yaw=2000, upsidedown=True, ip='192.168.0.123', port=2111, interfacetype=0, maplayer=0, active=True" -ros2 service call SickLocSetMap sick_lidar_localization/srv/SickLocSetMapSrv "{mapfilename: # expected reponse: test.map}" "set=True, executed=True" -ros2 service call SickLocMap sick_lidar_localization/srv/SickLocMapSrv "{}" # expected reponse: "map='test.map', success=True" -ros2 service call SickLocMapState sick_lidar_localization/srv/SickLocMapStateSrv "{}" # expected reponse: "mapstate=True, success=True" -ros2 service call SickLocInitializePose sick_lidar_localization/srv/SickLocInitializePoseSrv "{x: # expected reponse: 100, y: -100, yaw: 2000, sigmatranslation: 1000}" "success=True" -ros2 service call SickLocInitialPose sick_lidar_localization/srv/SickLocInitialPoseSrv "{}" # expected reponse: "x=100, y=-100, yaw=2000, sigmatranslation=1000, success=True" -ros2 service call SickLocSetReflectorsForSupportActive sick_lidar_localization/srv/SickLocSetReflectorsForSupportActiveSrv "{active: # expected reponse: 1}" "success=True" -ros2 service call SickLocReflectorsForSupportActive sick_lidar_localization/srv/SickLocReflectorsForSupportActiveSrv "{}" # expected reponse: "active=True, success=True" -ros2 service call SickLocSetOdometryActive sick_lidar_localization/srv/SickLocSetOdometryActiveSrv "{active: # expected reponse: 1}" "set=True, executed=True" -ros2 service call SickLocOdometryActive sick_lidar_localization/srv/SickLocOdometryActiveSrv "{}" # expected reponse: "active=True, success=True" -ros2 service call SickLocSetOdometryPort sick_lidar_localization/srv/SickLocSetOdometryPortSrv "{port: # expected reponse: 3000}" "set=True, executed=True" -ros2 service call SickLocOdometryPort sick_lidar_localization/srv/SickLocOdometryPortSrv "{}" # expected reponse: "port=3000, success=True" -ros2 service call SickLocSetOdometryRestrictYMotion sick_lidar_localization/srv/SickLocSetOdometryRestrictYMotionSrv "{active: # expected reponse: 1}" "success=True" -ros2 service call SickLocOdometryRestrictYMotion sick_lidar_localization/srv/SickLocOdometryRestrictYMotionSrv "{}" # expected reponse: "active=True, success=True" -ros2 service call SickLocSetAutoStartActive sick_lidar_localization/srv/SickLocSetAutoStartActiveSrv "{active: # expected reponse: 1}" "success=True" -ros2 service call SickLocAutoStartActive sick_lidar_localization/srv/SickLocAutoStartActiveSrv "{}" # expected reponse: "active=True, success=True" -ros2 service call SickLocSetAutoStartSavePoseInterval sick_lidar_localization/srv/SickLocSetAutoStartSavePoseIntervalSrv "{interval: # expected reponse: 5}" "success=True" -ros2 service call SickLocAutoStartSavePoseInterval sick_lidar_localization/srv/SickLocAutoStartSavePoseIntervalSrv "{}" # expected reponse: "interval=5, success=True" -ros2 service call SickLocSetRingBufferRecordingActive sick_lidar_localization/srv/SickLocSetRingBufferRecordingActiveSrv "{active: # expected reponse: 1}" "success=True" -ros2 service call SickLocRingBufferRecordingActive sick_lidar_localization/srv/SickLocRingBufferRecordingActiveSrv "{}" # expected reponse: "active=True, success=True" -ros2 service call SickDevGetLidarIdent sick_lidar_localization/srv/SickDevGetLidarIdentSrv "{index: # expected reponse: 0}" "scannerident='TestcaseGenerator0', success=True" -ros2 service call SickDevGetLidarState sick_lidar_localization/srv/SickDevGetLidarStateSrv "{index: # expected reponse: 0}" "devicestatus=2, deviceconnected=2, receivingdata=2, success=True" -ros2 service call SickGetSoftwareVersion sick_lidar_localization/srv/SickGetSoftwareVersionSrv "{}" # expected reponse: "version='1.0', success=True" -ros2 service call SickLocAutoStartSavePose sick_lidar_localization/srv/SickLocAutoStartSavePoseSrv "{}" # expected reponse: "success=True" -ros2 service call SickLocForceUpdate sick_lidar_localization/srv/SickLocForceUpdateSrv "{}" # expected reponse: "success=True" -ros2 service call SickLocSaveRingBufferRecording sick_lidar_localization/srv/SickLocSaveRingBufferRecordingSrv "{reason: # expected reponse: test}" "success=True" -ros2 service call SickLocStartDemoMapping sick_lidar_localization/srv/SickLocStartDemoMappingSrv "{}" # expected reponse: "success=True" -ros2 service call SickReportUserMessage sick_lidar_localization/srv/SickReportUserMessageSrv "{usermessage: # expected reponse: test_message}" "success=True" -ros2 service call SickSavePermanent sick_lidar_localization/srv/SickSavePermanentSrv "{}" # expected reponse: "success=True" -ros2 service call SickLocResultPort sick_lidar_localization/srv/SickLocResultPortSrv "{}" # expected reponse: "port=2201, success=True" -ros2 service call SickLocResultMode sick_lidar_localization/srv/SickLocResultModeSrv "{}" # expected reponse: "mode=0, success=True" -ros2 service call SickLocResultEndianness sick_lidar_localization/srv/SickLocResultEndiannessSrv "{}" # expected reponse: "endianness=0, success=True" -ros2 service call SickLocResultState sick_lidar_localization/srv/SickLocResultStateSrv "{}" # expected reponse: "state=1, success=True" -ros2 service call SickLocResultPoseInterval sick_lidar_localization/srv/SickLocResultPoseIntervalSrv "{}" # expected reponse: "interval=1, success=True" -ros2 service call SickDevSetIMUActive sick_lidar_localization/srv/SickDevSetIMUActiveSrv "{active: # expected reponse: 1}" "success=True" -ros2 service call SickDevIMUActive sick_lidar_localization/srv/SickDevIMUActiveSrv "{}" # expected reponse: "active=True, success=True" -``` - -See files [test/ros1_scripts/send_cola_examples.bash](test/ros1_scripts/send_cola_examples.bash) and -[test/ros1_scripts/send_cola_advanced.bash](test/ros1_scripts/send_cola_advanced.bash)(ROS1) resp. -[test/ros2_scripts/send_cola_examples.bash](test/ros2_scripts/send_cola_examples.bash) and -[test/ros2_scripts/send_cola_advanced.bash](test/ros2_scripts/send_cola_advanced.bash) (ROS2) for further examples. - -### LiDAR-LOC generic CoLa telegrams - -The following Cola telegrams are examples for the usage of the generic ros service "SickLocColaTelegram". They can be used as a -substituion of the ROS LiDAR-LOC services described above. - -Note: Other commands like "sMN mSCreboot" (reboot controller) can be send to the localization controller using ros service -"SickLocColaTelegram", too. - -Request | Response | Parameter | Description ---- | --- | --- | --- -**States Telegrams**||| -"sMN IsSystemReady" | "sAN IsSystemReady \" | 0:true, 1:false | Check if the system is ready -"sRN LocState" | "sRA LocState \" | 0:BOOTING, 1:IDLE, 2:LOCALIZING, 3:DEMO_MAPPING | Read localization state -"sMN LocStartLocalizing" | "sAN LocStartLocalizing \" | 0:failed, 1:success | Start localization -"sMN LocStop" | "sAN LocStop \" | 0:failed, 1:success | Stop localization or demo mapping -**Result Output Configuration Telegrams**||| -"sMN LocSetResultPort \" | "sAN LocSetResultPort \" | 0:failed, 1:success, \: uint16 (default: 2201) | Set TCP-port for result output -"sMN LocSetResultEndianness \" | "sAN LocSetResultEndianness \" | 0:failed, 1:success, \: uint8 (0: big endian, 1: little endian, default: big endian) | Set endianness of result output -"sMN LocSetResultPoseInterval \" | "sAN LocSetResultPoseInterval \" | 0:failed, 1:success, \: uint8 (0-255, interval in number of scans, 1: result with each processed scan, default: 1) | Set interval of result output -**SetPose Telegrams**||| -"sMN LocSetPose \ \ \ \" | "sAN LocSetPose \" | 0:failed, 1:success, \: int32 (x coordinate in mm), \: int32 (y coordinate in mm), \: int32 (yaw angle in millidegree, -180000 to +180000), \: uint16 (translation uncertainty in mm) | Initialize vehicle pose -**Timestamp Telegrams**||| -"sMN LocRequestTimestamp" | "sAN LocRequestTimestamp \" | 4 byte timestamp (ticks in milliseconds) | Query timestamp, see "Time synchronization" - -The following examples show how to call Cola telegrams supported and tested by service "SickLocColaTelegram" (ROS1): - -``` -# States Telegrams -rosservice call SickLocColaTelegram "{cola_ascii_request: 'sMN IsSystemReady', wait_response_timeout: 1}" # expected answer: "sAN IsSystemReady 1" # 0:true, 1:false # Check if the system is ready -rosservice call SickLocColaTelegram "{cola_ascii_request: 'sRN LocState', wait_response_timeout: 1}" # expected answer: "sRA LocState 2" # 0:BOOTING, 1:IDLE, 2:LOCALIZING, 3:DEMO_MAPPING # Read localization state -rosservice call SickLocColaTelegram "{cola_ascii_request: 'sMN LocStartLocalizing', wait_response_timeout: 1}" # expected answer: "sAN LocStartLocalizing 1" # 0:failed, 1:success # Start localization -rosservice call SickLocColaTelegram "{cola_ascii_request: 'sMN LocStop', wait_response_timeout: 1}" # expected answer: "sAN LocStop 1" # 0:failed, 1:success # Stop localization or demo mapping -# Result Output Configuration Telegrams -rosservice call SickLocColaTelegram "{cola_ascii_request: 'sMN LocSetResultPort 2201', wait_response_timeout: 1}" # expected answer: "sAN LocSetResultPort 1" # 0:failed, 1:success, : uint16 (default: 2201) # Set TCP-port for result output -rosservice call SickLocColaTelegram "{cola_ascii_request: 'sMN LocSetResultMode 0', wait_response_timeout: 1}" # expected answer: "sAN LocSetResultMode 1" # 0:failed, 1:success, : uint8 (0:stream, 1: poll, default: stream) # Set mode of result output (stream or: poll) -rosservice call SickLocColaTelegram "{cola_ascii_request: 'sMN LocSetResultEndianness 0', wait_response_timeout: 1}" # expected answer: "sAN LocSetResultEndianness 1" # 0:failed, 1:success, : uint8 (0: big endian, 1: little endian, default: big endian) # Set endianness of result output -rosservice call SickLocColaTelegram "{cola_ascii_request: 'sMN LocSetResultPoseInterval 1', wait_response_timeout: 1}" # expected answer: "sAN LocSetResultPoseInterval 1" # 0:failed, 1:success, : uint8 (0-255, interval in number of scans, 1: result with each processed scan, default: 1) # Set interval of result output -# SetPose Telegrams -rosservice call SickLocColaTelegram "{cola_ascii_request: 'sMN LocSetPose +10300 -5200 +30000 +1000', wait_response_timeout: 1}" # expected answer: "sAN LocSetPose 1" # 0:failed, 1:success, : int32 (x coordinate in mm), : int32 (y coordinate in mm), : int32 (yaw angle in millidegree, -180000 to +180000), : uint16 (translation uncertainty in mm) # Initialize vehicle pose -# Timestamp Telegrams -rosservice call SickLocColaTelegram "{cola_ascii_request: 'sMN LocRequestTimestamp', wait_response_timeout: 1}" # expected answer: "sAN LocRequestTimestamp " # 4 byte timestamp (ticks in milliseconds) # Query timestamp, see "Time synchronization" -``` - -See file [test/ros1_scripts/send_cola_examples.bash](test/ros1_scripts/send_cola_examples.bash) (ROS1) resp. -[test/ros2_scripts/send_cola_examples.bash](test/ros2_scripts/send_cola_examples.bash) (ROS2) for further examples. - -An initial result output configuration can be set by launch file [launch/sim_loc_driver.launch](launch/sim_loc_driver.launch), too: - -``` - - - - - - - - -``` - -If configured, these parameters are set initially at driver start using the corresponding ros services. -By default, the result output configuration is not set in the launch file and the SIM configuration applies. - -## Result port telegrams - -Find detailed information in the operation manuals published on -https://supportportal.sick.com/Product_notes/lidar-loc-operating-instructions/ - -Result port telegrams are continously received and published to inform about a vehicles pose (position and orientation). -ROS result telegram messages have the datatype [msg/SickLocResultPortTelegramMsg.msg](msg/SickLocResultPortTelegramMsg.msg), -containing 4 sub-elements: - -Type | Definition | Name | Description ---- | --- | --- | --- -Header | http://docs.ros.org/melodic/api/std_msgs/html/msg/Header.html | header | ROS Header with sequence id, timestamp and frame id -SickLocResultPortHeaderMsg | [msg/SickLocResultPortHeaderMsg.msg](msg/SickLocResultPortHeaderMsg.msg) | telegram_header | 52 byte header of a result port telegram -SickLocResultPortPayloadMsg | [msg/SickLocResultPortPayloadMsg.msg](msg/SickLocResultPortPayloadMsg.msg) | telegram_payload | 52 byte payload of a result port telegram -SickLocResultPortCrcMsg | [msg/SickLocResultPortCrcMsg.msg](msg/SickLocResultPortCrcMsg.msg) | telegram_trailer | 2 byte CRC trailer of a result port telegram - -The following table shows a complete list over all elements of the result telegram message: - -Type | Name | Description ---- | --- | --- -uint32 | header.seq | ROS sequence identifier (consecutively increasing id) -time | header.stamp | ROS timestamp in seconds and nanoseconds -string | header.frame_id | ROS frame identifier -uint32 | telegram_header.magicword | Magic word SICK (0x53 0x49 0x43 0x4B) -uint32 | telegram_header.length | Length of telegram incl. header, payload, and trailer -uint16 | telegram_header.payloadtype | Payload type: 0x06c2 = Little Endian, 0x0642 = Big Endian -uint16 | telegram_header.payloadversion | Version of PayloadType structure -uint32 | telegram_header.ordernumber | Order number of the localization controller -uint32 | telegram_header.serialnumber | Serial number of the localization controller -uint8[] | telegram_header.fw_version | Software version of the localization controller, 20 byte -uint32 | telegram_header.telegramcounter | Telegram counter since last start-up -uint64 | telegram_header.systemtime | Not used -uint16 | telegram_payload.errorcode | ErrorCode 0: OK, ErrorCode 1: UNKNOWNERROR -uint32 | telegram_payload.scancounter | Counter of related scan data -uint32 | telegram_payload.timestamp | Time stamp of the pose [ms], indicating the time at which the pose is calculated -int32 | telegram_payload.posex | Position X of the vehicle on the map in cartesian global coordinates [mm] -int32 | telegram_payload.posey | Position Y of the vehicle on the map in cartesian global coordinates [mm] -int32 | telegram_payload.poseyaw | Orientation (yaw) of the vehicle on the map [mdeg] -uint32 | telegram_payload.reserved1 | Reserved -int32 | telegram_payload.reserved2 | Reserved -uint8 | telegram_payload.quality | Quality of pose [0 … 100], 1 = bad pose quality, 100 = good pose quality -uint8 | telegram_payload.outliersratio | Ratio of beams that cannot be assigned to the current reference map [%] -int32 | telegram_payload.covariancex | Covariance c1 of the pose X [mm^2] -int32 | telegram_payload.covariancey | Covariance c5 of the pose Y [mm^2] -int32 | telegram_payload.covarianceyaw | Covariance c9 of the pose Yaw [mdeg^2] -uint64 | telegram_payload.reserved3 | Reserved -uint16 | telegram_trailer.checksum | CRC16-CCITT over length of header (52 bytes) and payload (52 bytes) without 2 bytes of the trailer -bool | vehicle_time_valid | true: vehicle_time_sec and vehicle_time_nsec valid, false: software pll still in initial phase -uint32 | vehicle_time_sec | System time of vehicles pose calculated by software pll (seconds part of the system time) -uint32 | vehicle_time_nsec | System time of vehicles pose calculated by software pll (nano seconds part of the system time) - -Note, that ROS2 requires lowercase fieldnames in messages, while ROS1 allowed camel case field names. For identical and -interoperable messages, all fieldnames have been changed to lowercase in release 4.0 and later. - -Example output of a result telegram (ros message of type [msg/SickLocResultPortTelegramMsg.msg](msg/SickLocResultPortTelegramMsg.msg)): - -``` -header: - seq: 0 - stamp: - secs: 1571732539 - nsecs: 914320492 - frame_id: "sick_lidar_localization" -telegram_header: - magicword: 1397310283 - length: 106 - payloadtype: 1602 - payloadversion: 1 - ordernumber: 1097816 - serialnumber: 19047026 - fw_version: [0, 0, 0, 0, 0, 0, 0, 76, 76, 83, 32, 86, 48, 46, 49, 46, 57, 46, 120, 66] - telegramcounter: 621 - systemtime: 9487549550560573440 -telegram_payload: - errorcode: 0 - scancounter: 623 - timestamp: 3468531 - posex: 93 - posey: 33 - poseyaw: 17895 - reserved1: 0 - reserved2: 0 - quality: 55 - outliersratio: 0 - covariancex: 32905 - covariancey: 39315 - covarianceyaw: 1210527 - reserved3: 0 -telegram_trailer: - checksum: 25105 -vehicle_time_valid: True -vehicle_time_sec: 1571732539 -vehicle_time_nsec: 854719042 -``` +ROS driver for SICK localization using REST API + +## Introduction + +This repository contains a driver for the REST-API control for the LiDAR-LOC version 2. + +The drivers support the following ROS versions in the same source: + +* native without ROS for Linux/Windows +* ROS1 for Linux +* ROS2 for Linux/Windows + +## Specification + +The customer requirements and the REST API specification for the implementation of the project: +-[specification](doc/specifications/README.md) + +## Build on native Linux + +To build and install sick_lidar_localization on Linux without ROS, follow the steps below: + +1. If not yet done, install libcurl and jsoncpp: + ``` + sudo apt-get install libcurl-dev + sudo apt-get install libjsoncpp-dev + ``` +2. Clone repository https://github.com/SICKAG/sick_lidar_localization: + ``` + git clone https://github.com/SICKAG/sick_lidar_localization.git + ``` + +3. Build project sick_lidar_localization with cmake: + ``` + cd sick_lidar_localization + if [ -d ./build ] ; then rm -rf ./build ; fi + mkdir -p ./build + pushd ./build + cmake -DROS_VERSION=0 -G "Unix Makefiles" .. + make -j4 + popd + ``` + +## Build on Linux ROS 1 + +To build and install sick_lidar_localization on Linux using ROS 1, follow the steps below: + +1. If not yet done, install libcurl and jsoncpp: + ``` + sudo apt-get install libcurl-dev + sudo apt-get install libjsoncpp-dev + ``` +2. Clone repository https://github.com/SICKAG/sick_lidar_localization: + ``` + mkdir -p ./src + pushd ./src + git clone https://github.com/SICKAG/sick_lidar_localization.git + popd + ``` + +3. Build project sick_lidar_localization: + ``` + source /opt/ros/noetic/setup.bash + cp -f ./src/sick_lidar_localization/package_ros1.xml ./src/sick_lidar_localization/package.xml + catkin_make install --cmake-args -DROS_VERSION=1 + source ./install/setup.bash + ``` + For ROS versions other than noetic, please replace source `/opt/ros/noetic/setup.bash` with your ros distribution. + +## Build on Linux ROS 2 + +To build and install sick_lidar_localization on Linux using ROS 2, follow the steps below: + +1. If not yet done, install libcurl and jsoncpp: + ``` + sudo apt-get install libcurl-dev + sudo apt-get install libjsoncpp-dev + ``` +2. Clone repository https://github.com/SICKAG/sick_lidar_localization: + ``` + mkdir -p ./src + pushd ./src + git clone https://github.com/SICKAG/sick_lidar_localization.git + popd + ``` + +3. Build project sick_lidar_localization: + ``` + source /opt/ros/eloquent/setup.bash + cp -f ./src/sick_lidar_localization/package_ros2.xml ./src/sick_lidar_localization/package.xml + colcon build --cmake-args " -DROS_VERSION=2" --event-handlers console_direct+ + source ./install/setup.bash + ``` + For ROS versions other than eloquent, please replace `source /opt/ros/eloquent/setup.bash` with your ros distribution. + +## Build on native Windows + +To build and install sick_lidar_localization on Windows without ROS, follow the steps below: + +1. If not yet done, install Visual Studio. Visual Studio 2019 Community or Professional Edition is recommended. -Note: Result telegrams always have the same magicword: `1397310283` (`0x5349434B` hex resp. `SICK` in ascii/ansi) and a -length of 106 bytes (`Length: 106`). +2. If not yet done, install the Visual Studio package manager vcpkg: + * Download vcpkg-master.zip from https://github.com/microsoft/vcpkg/archive/master.zip and unzip to `c:\vcpkg`. Alternatively, run "git clone https://github.com/microsoft/vcpkg" + * Install vcpkg by running the following commands: + ``` + cd c:/vcpkg + bootstrap-vcpkg.bat + vcpkg integrate install + ``` + * Include vcpkg in your path: + ``` + set PATH=c:\vcpkg\installed\x64-windows\bin;%PATH% + ``` + +3. If not yet done, install libcurl and jsoncpp using vcpkg: + ``` + cd c:/vcpkg + vcpkg install curl[tool]:x64-windows + vcpkg install jsoncpp:x64-windows + ``` + +4. Clone repository https://github.com/SICKAG/sick_lidar_localization: + ``` + git clone https://github.com/SICKAG/sick_lidar_localization.git + ``` -## Time synchronization +5. Build project sick_lidar_localization with cmake and Visual Studio 2019: + ``` + cd sick_lidar_localization + set _os=x64 + set _cmake_string=Visual Studio 16 2019 + set _msvc=Visual Studio 2019 + set _cmake_build_dir=build + if not exist %_cmake_build_dir% mkdir %_cmake_build_dir% + pushd %_cmake_build_dir% + cmake -DROS_VERSION=0 -G "%_cmake_string%" .. + popd + ``` + Open file `build\sick_lidar_localization.sln` in Visual Studio and build all targets (shortcut F7). -The localization controller sends the timestamp of a pose in millisecond ticks (telegram_payload.timestamp of a result -port telegram). This timestamp in milliseconds is accurate, but differs from the ros system time by a time offset. -This time offset can be queried by a LocRequestTimestamp command. +## Build on Windows ROS2 -LocRequestTimestamp commands are transmitted to the localization controller by the Cola protocoll. See SICK manuals for -a description of the Cola protocoll and SOPAS commands. +To build and install sick_lidar_localization on Windows with ROS-2, follow the steps below: -Cola commands can be transmitted to the localization controller by ros service "SickLocColaTelegram", implemented by -sim_loc_driver and defined in file [srv/SickLocColaTelegramSrv.srv](srv/SickLocColaTelegramSrv.srv). -Example for a Cola command to query a LocRequestTimestamp: +1. If not yet done, install Visual Studio and vcpkg (same as native Windows). -``` -> # ROS1: -> rosservice call SickLocColaTelegram "{cola_ascii_request: 'sMN LocRequestTimestamp', wait_response_timeout: 1}" -> # ROS2: -> ros2 service call SickLocColaTelegram sick_lidar_localization/srv/SickLocColaTelegramSrv "{cola_ascii_request: 'sMN LocRequestTimestamp', wait_response_timeout: 1}" -cola_ascii_response: "sAN LocRequestTimestamp 1EDB" -send_timestamp_sec: 1573118218 -send_timestamp_nsec: 365014292 -receive_timestamp_sec: 1573118218 -receive_timestamp_nsec: 367832063 -``` +2. If not yet done, install libcurl and jsoncpp using vcpkg: + ``` + cd c:/vcpkg + vcpkg install curl[tool]:x64-windows + vcpkg install jsoncpp:x64-windows + ``` -`cola_ascii_response` is the response of the localization controller. `send_timestamp` and `receive_timestamp` are ros -system timestamps immediately before sending the request resp. immediately after receiving the controllers response. -Using send and receive timestamps, the time offset can be calculated: +3. Clone repository https://github.com/SICKAG/sick_lidar_localization: + ``` + git clone https://github.com/SICKAG/sick_lidar_localization.git + ``` -``` -delta_time_ms := mean_time_vehicle_ms - timestamp_lidar_ms -mean_time_vehicle_ms := (send_time_vehicle + receive_time_vehicle) / 2 - := vehicles mean timestamp in milliseconds -send_time_vehicle := vehicles timestamp when sending LocRequestTimestamp -receive_time_vehicle := vehicles timestamp when receiving the LocRequestTimestamp response -timestamp_lidar_ms := lidar timestamp in milliseconds from LocRequestTimestamp response -``` +4. Build project sick_lidar_localization: + ``` + copy /b/y .\src\sick_lidar_localization\package_ros2.xml .\src\sick_lidar_localization\package.xml + colcon build --cmake-args " -DROS_VERSION=2" --event-handlers console_direct+ + call .\install\setup.bat + ``` -This time offset calculation is provided by ros service "SickLocRequestTimestamp", implemented by the -sim_loc_driver and defined in file [srv/SickLocRequestTimestampSrv.srv](srv/SickLocRequestTimestampSrv.srv). -Example to query the time offset: +## Run sick_lidar_localization -``` -> # ROS1: -> rosservice call SickLocRequestTimestamp "{}" -> # ROS2: -> ros2 service call SickLocRequestTimestamp sick_lidar_localization/srv/SickLocRequestTimestampSrv "{}" -timestamp_lidar_ms: 23745 -mean_time_vehicle_ms: 1573118234209 -delta_time_ms: 1573118210464 -send_time_vehicle_sec: 1573118234 -send_time_vehicle_nsec: 208421663 -receive_time_vehicle_sec: 1573118234 -receive_time_vehicle_nsec: 211120716 -``` +Start sick_lidar_localization using the configuration file [sick_lidar_localization.launch](launch/sick_lidar_localization.launch). -`delta_time_ms` gives the time offset in milliseconds. See operation manuals for details -about time synchronization, time offset calculation and Cola telegrams. +The commands to start sick_lidar_localization depends on the target: -The time offset depends on network latencies and transmission delays. To get a more accurate value, the time offset can be -calculated from N measurements by a software pll. The software pll estimates the mean time offset and calculates the -system time from any ticks. See [doc/software_pll.md](doc/software_pll.md) for further details. - -The system timestamp of a vehicle pose is calculated from lidar ticks for each result port telegram and published by -ros message [msg/SickLocResultPortTelegramMsg.msg](msg/SickLocResultPortTelegramMsg.msg). This way, an application does -not need to care about time synchronization itself. It's sufficient to use `vehicle_time_sec` and `vehicle_time_nsec` in -the result telegrams. Example output of a result telegram: - +For native Linux: ``` -> # ROS1: -> rostopic echo "/sick_lidar_localization/driver/result_telegrams" -> # ROS2: -> ros2 topic echo "/sick_lidar_localization/driver/result_telegrams" -Timestamp: 525924 # Lidar timestamp in millisecond ticks -vehicle_time_valid: True # System timestamp by software pll is valid -vehicle_time_sec: 1573119569 # System timestamp of vehicle pose (second part) -vehicle_time_nsec: 854719042 # System timestamp of vehicle pose (nanosecond part) +cd ./build +./sick_lidar_localization ../launch/sick_lidar_localization.launch [options] ``` -The system timestamp of a vehicle pose can be calculated from ticks using ros service "SickLocTimeSync", too. This service -returns the system timestamp from ticks using the software pll running in the driver. It's is defined in file -[srv/SickLocTimeSyncSrv.srv](srv/SickLocTimeSyncSrv.srv). Example: - +For Linux using ROS 1: ``` -> # ROS1: -> rosservice call SickLocTimeSync "{timestamp_lidar_ms: 123t456}" -> # ROS2: -> ros2 service call SickLocTimeSync sick_lidar_localization/srv/SickLocTimeSyncSrv "{timestamp_lidar_ms: 123t456}" -vehicle_time_valid: True -vehicle_time_sec: 1573119167 -vehicle_time_nsec: 380565047 +source ./install/setup.bash +roslaunch sick_lidar_localization sick_lidar_localization.launch [options] ``` -**Important note:** The driver sends LocRequestTimestamp commands to the localization controller with a constant rate, -each 10 seconds by default (configurable by parameter `time_sync_rate` in file [yaml/sim_loc_driver.yaml](yaml/sim_loc_driver.yaml) -(ROS1) resp. [launch/sim_loc_driver.launch.py](launch/sim_loc_driver.launch.py) (ROS2). -The software pll is updated after each successful LocRequestTimestamp with the current lidar ticks and the current system -time. The software pll uses a fifo buffer to calculate a regression, with a buffer size of 7 by default (configurable by -parameter `software_pll_fifo_length` in file [yaml/sim_loc_driver.yaml](yaml/sim_loc_driver.yaml) (ROS1) resp. -[launch/sim_loc_driver.launch.py](launch/sim_loc_driver.launch.py) (ROS2). Therefore, it takes -at least 7 LocRequestTimestamp commands before the software pll is fully initialized and time synchronization becomes valid. -Within the initialization phase (at least 7 LocRequestTimestamp commands), a system time can not be calculated from -lidar ticks. During the initial phase, the time synchronization service is not available and the vehicle system time is not valid -(`vehicle_time_valid` will be false, `vehicle_time_sec` and `vehicle_time_nsec` will have value 0). - -## Odometry - -The driver subscribes to odometry messages and sends timestamp and velocity to the localization server by udp packages. -The odometry topic and udp connection can be configured by [yaml/sim_loc_driver.yaml](yaml/sim_loc_driver.yaml) (ROS1) -resp. [launch/sim_loc_driver.launch.py](launch/sim_loc_driver.launch.py) (ROS2): - +For Linux using ROS 2: ``` -# Odometry configuration -{'/sick_lidar_localization/driver/odom_telegrams_udp_port': 3000}, # Udp port to send odom packages to the localization controller -{'/sick_lidar_localization/driver/odom_topic': "/odom"}, # ROS topic for odometry messages -{'/sick_lidar_localization/driver/odom_telegrams_bigendian': 1}, # Send udp odometry telegrams big endian (true) or little endian (false) -{'/sick_lidar_localization/driver/odom_telegrams_source_id': 100}, # SourceID of udp odometry telegrams, e.g. vehicle controller 1 +source ./install/setup.bash +ros2 run sick_lidar_localization sick_lidar_localization ./src/sick_lidar_localization/launch/sick_lidar_localization.launch --ros-args [options] ``` -See the operation manual for further details about odometry support. - -## Diagnostics - -The sick_lidar_localization driver publishes diagnostic messages on ros topic "/sick_lidar_localization/driver/diagnostic", -which can be examined by command `rostopic echo "/sick_lidar_localization/driver/diagnostic"` (ROS1) resp. -`ros2 topic echo "/sick_lidar_localization/driver/diagnostic"` (ROS2). -Example diagnostic messages (ros message of type [msg/SickLocDiagnosticMsg.msg](msg/SickLocDiagnosticMsg.msg)): - +For native Windows: ``` -header: - seq: 3 - stamp: - secs: 1571735362 - nsecs: 630462359 - frame_id: "sick_lidar_localization" -error_code: 0 -message: "sim_loc_driver: tcp connection established to localization controller 192.168.0.1:2201" ---- -header: - seq: 4 - stamp: - secs: 1571735362 - nsecs: 631530587 - frame_id: "sick_lidar_localization" -error_code: 0 -message: "sim_loc_driver: status okay, receiving and publishing result telegrams" +cd .\build +.\Debug\sick_lidar_localization ../launch/sick_lidar_localization.launch [options] ``` -Note: In case of errors (f.e. connection lost, parse errors or invalid telegrams), diagnostic messages with an error code -are published. Error codes defined in [include/sick_lidar_localization/driver_thread.h](include/sick_lidar_localization/driver_thread.h) are: - -Error code | Value | Description ---- | --- | --- -NO_ERROR | 0 | No error, driver works as expected -NO_TCP_CONNECTION | 1 | Tcp connection to localization controller could not be established -PARSE_ERROR | 2 | Parse error, telegram could not be decoded -CONFIGURATION_ERROR | 3 | Invalid driver configuration -INTERNAL_ERROR | 4 | Internal error (should never happen) - -## Driver configuration - -The sick_lidar_localization driver is configured by file [yaml/sim_loc_driver.yaml](yaml/sim_loc_driver.yaml) (ROS1) resp. -[launch/sim_loc_driver.launch.py](launch/sim_loc_driver.launch.py) (ROS2): - -Parametername | Defaultvalue | Description ---- | --- | --- -localization_controller_default_ip_address | "192.168.0.1" | Default IP adress "192.168.0.1" of the localization controller (if not otherwise set by parameter "localization_controller_ip_address") -result_telegrams_tcp_port | 2201 | TCP port number of the localization controller sending localization results -cola_telegrams_tcp_port | 2111 | For requests and to transmit settings to the localization controller: IP port number 2111 and 2112 to send telegrams and to request data, SOPAS CoLa-A or CoLa-B protocols -cola_binary | 0 | 0: send Cola-ASCII (default), 1: send Cola-Binary, 2: toggle between Cola-ASCII and Cola-Binary (test and development only!) -tcp_connection_retry_delay | 1.0 | Delay in seconds to retry to connect to the localization controller, default 1 second -result_telegrams_topic | "/sick_lidar_localization/driver/result_telegrams" | ros topic to publish result port telegram messages (type SickLocResultPortTelegramMsg) -result_telegrams_frame_id | "sick_lidar_localization" | ros frame id of result port telegram messages (type SickLocResultPortTelegramMsg) -diagnostic_topic | "/sick_lidar_localization/driver/diagnostic" | ros topic to publish diagnostic messages (type SickLocDiagnosticMsg) -diagnostic_frame_id | "sick_lidar_localization" | ros frame id of diagnostic messages (type SickLocDiagnosticMsg) -monitoring_rate | 1.0 | frequency to monitor driver messages, once per second by default -monitoring_message_timeout | 1.0 | timeout for driver messages, shutdown tcp-sockets and reconnect after message timeout, 1 second by default -point_cloud_topic | "/cloud" | ros topic to publish PointCloud2 data -point_cloud_frame_id | "pointcloud_sick_lidar_localization" | ros frame id of PointCloud2 messages -tf_parent_frame_id | "tf_demo_map" | parent frame of tf messages of of vehicles pose (typically frame of the loaded map) -tf_child_frame_id | "tf_sick_lidar_localization" | child frame of tf messages of of vehicles pose -software_pll_fifo_length | 7 | Length of software pll fifo, default: 7 -time_sync_rate | 0.1 | Frequency to request timestamps from localization controller using ros service "SickLocRequestTimestamp" and to update software pll, default: 0.1 - -Note: The IP address of the SICK localization controller (192.168.0.1 by default) can be set by commandline argument -`localization_controller_ip_address:=` when starting the driver with -`roslaunch sick_lidar_localization sim_loc_driver.launch localization_controller_ip_address:=`. - -## Testing - -To test the sick_lidar_localization ros driver, just connect your ros system with the SICK localization controller, -start the driver and observe the result port telegrams and diagnostic messages: - -ROS1: -```console -cd ~/catkin_ws -source ./devel/setup.bash -rostopic echo "/sick_lidar_localization/driver/diagnostic" & -rostopic echo "/sick_lidar_localization/driver/result_telegrams" & -roslaunch sick_lidar_localization sim_loc_driver.launch localization_controller_ip_address:=192.168.0.1 +For Windows using ROS 2: ``` - -ROS2: -```console -cd ~/catkin_ws -source ./install/setup.bash -ros2 topic echo "/sick_lidar_localization/driver/diagnostic" & -ros2 topic echo "/sick_lidar_localization/driver/result_telegrams" & -export localization_controller_ip_address=192.168.0.1 -ros2 launch sick_lidar_localization sim_loc_driver.launch +call .\install\setup.bat +ros2 run sick_lidar_localization sick_lidar_localization ./src/sick_lidar_localization/launch/sick_lidar_localization.launch [options] ``` -Warnings and error messages will be printed in case of failures like unreachable controller, connection losts or -invalid telegrams. +### Options and configuration -For automated tests over long time, the values of result telegram messages can be automatically checked against minimal -and maximal limits. These limits - i.e. min. and max. allowed values for each element in a result telegram message - can -be configured by a yaml-file and can be automatically checked by sim_loc_driver_check: +Parameter can be configured in the launch file [sick_lidar_localization.launch](launch/sick_lidar_localization.launch) and overwritten by commandline arguments. -ROS1: -```console -roslaunch sick_lidar_localization sim_loc_driver_check.launch -``` +Common parameters are: -ROS2: -```console -ros2 launch sick_lidar_localization sim_loc_driver_check.launch.py -``` +| **parameter name** | **default value** | **parameter type** | **example** | **description** | +|--------------------|-------------------|--------------------|-------------|-----------------| +| hostname | 192.168.0.1 | string | hostname:=192.168.0.1 | IP address of the SIM localization controller | +| verbose | 0 | int | verbose:=1 | Print informational messages (verbose>0, otherwise error messages only) | +| udp_ip_sim_output | "" | string | udp_ip_sim_output:=192.168.0.100 | IP address of your local machine (i.e. the receiver of UDP stream messages) | +| udp_ip_sim_input | 192.168.0.1 | string | udp_ip_sim_input:=192.168.0.1 | IP address of host to send input UDP messages to, should be identical to hostname (except for unittests) | -Each result telegram message which violates the limits defined in file [yaml/message_check_demo.yaml](yaml/message_check_demo.yaml) (ROS1)) -resp. [launch/sim_loc_driver.launch.py](launch/sim_loc_driver.launch.py) (ROS2) -will result in warnings and error messages. By providing limits adapted to a specific scenario, result telegram messages -can be checked automatically over long time. +## REST API services -Configuration file [yaml/message_check_demo.yaml](yaml/message_check_demo.yaml) (ROS1)) resp. [launch/sim_loc_driver.launch.py](launch/sim_loc_driver.launch.py) (ROS2) -defines lower bounds in section result_telegram_min_values and upper bounds in section result_telegram_max_values for all values of a result telegram. By default, these limits are -configured to fit all scenarios. Feel free to provide a configuration file with narrower limits; this might help to track -occasionally or otherwise hard to find problems. +LiDAR-LOC can be configured using a JSON REST API. This API is available using ROS services (on ROS-1 and ROS-2) or commandline tool `gen_service_call` (on all target systems). See [REST API services](doc/sick_localization_services.md) for details. -## Simulation and offline testing +## C++ API -Offline simulation without hardware or a dedicated localization controller enables a wider range of automated tests and -scenarios. Simulation can verify the handling of errors like invalid telegrams, broken networks or other errors hard to create -when using hardware controllers. +On native Linux or Windows without ROS, tool `gen_service_call` can be used for the [REST API services](doc/sick_localization_services.md). UDP stream messages can be processed using the [C++ API](doc/cpp_api.md). -sim_loc_test_server simulates a localization controller and generates random based result port telegrams. To run an offline -simulation, start the test server and the sick_lidar_localization ros driver on you local system: +## UDP stream messages -ROS1: -```console -cd ~/catkin_ws -source ./devel/setup.bash -roslaunch sick_lidar_localization sim_loc_test_server.launch & # start test server to generate result port telegrams -sleep 3 # make sure ros core and sim_loc_test_server are up and running -roslaunch sick_lidar_localization sim_loc_driver.launch localization_controller_ip_address:=127.0.0.1 -``` +LiDAR-LOC receives and sends messages from resp. to the localization controller using UDP. UDP output messages are UDP messages sent from the localization controller to the local PC. UDP input messages are UDP messages sent from the local PC to the localization controller. On ROS-1 and ROS-2, these UDP-messages are converted from resp. to ROS messages. On native Linux and Windows systems, these UDP-messages can be processed using the [C++ API](doc/cpp_api.md). -ROS2: -```console -cd ~/catkin_ws -source ./install/setup.bash -ros2 launch sick_lidar_localization sim_loc_test_server.launch.py & # start test server to generate result port telegrams -sleep 3 # make sure ros core and sim_loc_test_server are up and running -export localization_controller_ip_address=127.0.0.1 -ros2 launch sick_lidar_localization sim_loc_driver.launch.py -``` +UDP stream output messages are: +* [Odometry messages type 1 version 4](msg/OdometryMessage0104.msg) +* [Odometry messages type 1 version 5](msg/OdometryMessage0105.msg) +* [Code measurement messages type 3 version 4](msg/CodeMeasurementMessage0304.msg) +* [Line measurement messages type 4 version 3](msg/LineMeasurementMessage0403.msg) +* [Line measurement messages type 4 version 4](msg/LineMeasurementMessage0404.msg) +* [Localization result messages type 5 version 2](msg/LocalizationControllerResultMessage0502.msg) -The sick_lidar_localization ros driver will connect to the local test server, receive random based result port telegrams -and publish them on ros topic "/sick_lidar_localization/driver/result_telegrams". Telegram messages can be viewed with +UDP stream input messages are: +* [Odometry messages type 1 version 1](msg/OdometryMessage0101.msg) +* [Odometry messages type 1 version 4](msg/OdometryMessage0104.msg) +* [Odometry messages type 1 version 5](msg/OdometryMessage0105.msg) +* [Encoder measurement messages type 2 version 2](msg/EncoderMeasurementMessage0202.msg) +* [Code measurement messages type 3 version 3](msg/CodeMeasurementMessage0303.msg) +* [Line measurement messages type 4 version 3](msg/LineMeasurementMessage0403.msg) +* [Line measurement messages type 4 version 4](msg/LineMeasurementMessage0404.msg) -```console -rostopic echo "/sick_lidar_localization/driver/diagnostic" & -rostopic echo "/sick_lidar_localization/driver/result_telegrams" & -``` -resp. -```console -ros2 topic echo "/sick_lidar_localization/driver/diagnostic" & -ros2 topic echo "/sick_lidar_localization/driver/result_telegrams" & -``` - -Since the driver input (i.e. the binary result port telegrams) and the expected output (i.e. the generated telegrams) are -known, the driver output can be verified. The test server sim_loc_test_server publishes testcases with both the -generated telegrams (expected driver output) and their binaries (driver input) on ros topic "/sick_lidar_localization/test_server/result_testcases". -Comparing the telegram messages (driver output) with the testcases (expected driver output), the driver can be verified. -This is done by verify_sim_loc_driver, which just subscribes to both topics, compares the telegram messages from the driver -to the expected telegram from the test server, and counts and prints warnings if both messages are not identical. - -To run the verification, start driver and test server as described above, and launch verify_sim_loc_driver: +See [UDP stream messages](doc/sim_messages.md) for details and examples. -```console -roslaunch sick_lidar_localization verify_sim_loc_driver.launch -``` -resp. -```console -ros2 launch sick_lidar_localization verify_sim_loc_driver.launch.py -``` +## Timestamps and time synchronization -After stopping the test, a summary note is printed. Example output by verify_sim_loc_driver: +The localization timestamps in UDP output messages are converted to system time using a Software-PLL. See [Time synchronization](doc/timing.md) and [Software-PLL](doc/software_pll.md) for details. -``` -VerifierThread: verification thread summary: 588 messages checked, 0 failures. -``` +## Tools and unittests -Use `run_simu.bash` in folder src/sick_lidar_localization/test/ros1_scripts (ROS1) resp. src/sick_lidar_localization/test/ros2_scripts (ROS2) -to run an automated offline test: +### Visualization of localization results -```console -cd ~/catkin_ws/src/sick_lidar_localization/test/ros1_scripts -./run_simu.bash -``` -resp. -```console -cd ~/catkin_ws/src/sick_lidar_localization/test/ros2_scripts -./run_simu.bash -``` +Localization results (i.e. the sensor position and orientation) can be visualized on ROS using pointcloud_convert. The tool converts Localization result messages and publishes the sensor pose and transform. Run pointcloud_converter and rviz, then add topic `/cloud/PointCloud2` and display type `TF`. -In case of a successful test, the following summary will be displayed (example output): +ROS-1 usage example: ``` -MessageCheckThread: check messages thread summary: 599 messages checked, 0 failures. -VerifierThread: verification thread summary: 585 messages checked, 0 failures. +source ./install/setup.bash +roslaunch sick_lidar_localization sick_lidar_localization.launch & +sleep 3 ; roslaunch sick_lidar_localization pointcloud_converter.launch & +sleep 3 ; rosrun rviz rviz -d ./src/sick_lidar_localization/test/config/rviz_sick_lidar_localization_pointcloud.rviz ``` -Use `run_cola_examples.bash` in folder src/sick_lidar_localization/test/ros1_scripts (ROS1) resp. src/sick_lidar_localization/test/ros2_scripts (ROS2) -to run an automated offline test of ros services for SIM configuration: +ROS-2 usage example: -```console -cd ~/catkin_ws/src/sick_lidar_localization/test/ros1_scripts -./run_cola_examples.bash ``` -resp. -```console -cd ~/catkin_ws/src/sick_lidar_localization/test/ros2_scripts -./run_cola_examples.bash +source ./install/setup.bash +ros2 run sick_lidar_localization sick_lidar_localization ./src/sick_lidar_localization/launch/sick_lidar_localization.launch & +sleep 3 ; ros2 run sick_lidar_localization pointcloud_converter ./src/sick_lidar_localization/launch/pointcloud_converter.launch & +sleep 3 ; rviz2 -d ./src/sick_lidar_localization//test/config/rviz2_sick_lidar_localization_pointcloud.rviz2 ``` -Examples of ros services for SIM configuration will be called and example cola telegrams will be tested offline. -In case of a successful test, the following summary will be displayed (example output): +The following screenshot shows an example of the sensor pose with the sensor transform and 4 points in "cloud" coordinates: -``` -MessageCheckThread: check messages thread summary: 1081 messages checked, 0 failures. -Services and cola telegram verification summary: 86 testcases, 0 failures. -``` +![rviz_pointcloud_converter_screenshot](doc/screenshots/rviz_pointcloud_converter_screenshot1.png) -## Error simulation and error handling +### Unittests -The sick_lidar_localization ros driver monitors the telegram messages. In case of errors (network errors like unreachable -hosts or connection lost, or communication errors like invalid telegrams or false checksums), the tcp connection to the -localization controller is automatically closed and re-established. A diagnostic message will be logged and published, -f.e. with error code 1 (NO_TCP_CONNECTION) after connect lost: +Folder `sick_lidar_localization/test/scripts` provide scripts for development and unittests on ROS-1, ROS-2 and native Linux or Windows. Run the following scripts for a short unittest in case of problems or use them as examples to run lidar localization: +ROS-1 Linux: ``` -sick_lidar_localization,1,sim_loc_driver: no tcp connection to localization controller 192.168.0.1:2201 +cd ./src/sick_lidar_localization/test/scripts +./makeall_ros1.bash +./run_linux_ros1_simu.bash ``` -Errors can be simulated and tested using sim_loc_test_server with argument `error_simulation`: - -ROS1: -```console -roslaunch sick_lidar_localization sim_loc_test_server.launch error_simulation:=true & # run test server in error simulation mode +ROS-2 Linux: ``` -ROS2: -```console -export sim_loc_test_server_error_simulation=1 -ros2 launch sick_lidar_localization sim_loc_test_server.launch.py & # run test server in error simulation mode +cd ./src/sick_lidar_localization/test/scripts +./makeall_ros2.bash +./run_linux_ros2_simu.bash ``` -In error simulation mode, sim_loc_test_server will toggle between errors and correct execution each 10 seconds. -After switching to normal mode, sim_loc_test_server checks for telegram messages from the driver and displays an -error, if the driver isn't reconnecting or isn't publishing telegrams. - -Currently, the following errors are simulated and tested by sim_loc_test_server (enumerated in -[include/sick_lidar_localization/test_server_thread.h](include/sick_lidar_localization/test_server_thread.h): - -Error testcase | Description ---- | --- -DONT_LISTEN | Testserver does not open a listening port -DONT_ACCECPT | Testserver does not accecpt tcp clients -DONT_SEND | Testserver does not send any data -SEND_RANDOM_TCP | Testserver sends invalid random tcp packets -SEND_INVALID_TELEGRAMS | Testserver sends invalid telegrams (invalid data, false checksums, etc.) - -sim_loc_test_server runs each of these error modes for 10 seconds and switches then back to normal mode. -After switching to normal mode, the driver has to reconnect and the test server expects -new telegram messages. In case of missing telegram messages from the driver, the test will fail. - -Use `run_error_simu.bash` in folder src/sick_lidar_localization/test/ros1_scripts (ROS1) resp. src/sick_lidar_localization/test/ros2_scripts (ROS2) -to run an automated error simulation and error test: - -```console -cd ~/catkin_ws/src/sick_lidar_localization/test/ros1_scripts -./run_error_simu.bash +Native Linux: ``` -resp. -```console -cd ~/catkin_ws/src/sick_lidar_localization/test/ros2_scripts -./run_error_simu.bash +cd ./src/sick_lidar_localization/test/scripts +./makeall_linux.bash +./run_linux_simu.bash ``` -Note: This test intentionally creates lots of error messages. In case of successful error simulation and test, the following -summary will be displayed: - -``` -sick_lidar_localization error simulation summary: finished 3 testcases, reconnect after connection lost okay. -TestServerThread: error simulation summary: 6 of 6 testcases passed, 0 failures. -MessageCheckThread: check messages thread summary: 1153 messages checked, 0 failures. +Native Windows: ``` - -## Visualization and usage example: pointcloud_convert - -pointcloud_convert in file [src/pointcloud_converter.cpp](src/pointcloud_converter.cpp) implements a subscriber to -sim_loc_driver messages. The driver messages are converted to both PointCloud2 on topic "/cloud" and and TF messages, -which can be viewed by rviz. - -![doc/sequenceDiagramResultTelegrams.png](doc/sequenceDiagramResultTelegrams.png) - -To run and visualize an example with a simulated vehicle moving in circles, run the following commands: - -ROS1: -```console -cd ~/catkin_ws -source ./devel/setup.bash -# Run test server, simulate localization controller with a vehicle moving in circles. -roslaunch sick_lidar_localization sim_loc_test_server.launch demo_circles:=true & -sleep 3 # make sure ros core and sim_loc_test_server are up and running -# Run ros driver, connect to localization controller, receive, convert and publish report telegrams -roslaunch sick_lidar_localization sim_loc_driver.launch localization_controller_ip_address:=127.0.0.1 & -# Visualize PointCloud2 and TF messages by rviz: -rosrun tf static_transform_publisher 0 0 0 0 0 0 map pointcloud_sick_lidar_localization 10 & -rosrun rviz rviz -d ./src/sick_lidar_localization_pretest/test/config/rviz_sick_lidar_localization_demo_pointcloud.rviz & -rosrun rviz rviz -d ./src/sick_lidar_localization_pretest/test/config/rviz_sick_lidar_localization_demo_tf.rviz & +cd .\src\sick_lidar_localization\test\scripts +.\make_win64.cmd +Open sick_lidar_localization.sln in build folder and rebuild (debug version) +.\run_win64_simu.cmd ``` -ROS2: -```console -cd ~/catkin_ws -source ./install/setup.bash -# Run test server, simulate localization controller with a vehicle moving in circles. -export localization_controller_ip_address=127.0.0.1 -export sim_loc_test_server_demo_circles=1 -export sim_loc_test_server_error_simulation=0 -ros2 launch sick_lidar_localization sim_loc_test_server.launch.py & -sleep 3 # make sure ros core and sim_loc_test_server are up and running -# Run ros driver, connect to localization controller, receive, convert and publish report telegrams -ros2 launch sick_lidar_localization sim_loc_driver.launch.py & -# Visualize PointCloud2 and TF messages by rviz: -ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 map pointcloud_sick_lidar_localization & -ros2 run rviz2 rviz2 -d ./src/sick_lidar_localization_pretest/test/config/rviz2_sick_lidar_localization_demo_pointcloud.rviz & -ros2 run rviz2 rviz2 -d ./src/sick_lidar_localization_pretest/test/config/rviz2_sick_lidar_localization_demo_tf.rviz & -``` - -To view vehicles poses by TF messages, add a display with type TF and select frame tf_demo_map in global options: - -![doc/screenshot-rviz-simu2.png](doc/screenshot-rviz-simu2.png) +## FAQ, troubleshooting -To view pointcloud messages, add a display with topic /cloud/PointCloud2 and select frame map in global options: +### Setup -![doc/screenshot-rviz-simu1.png](doc/screenshot-rviz-simu1.png) +:question: How can I setup my sensor using SOPASair? -Both visualizations view the poses of the same simulated vehicle. +:white_check_mark: To setup and configure LiDAR-LOC with SOPASair, use of Chrome-browser under Windows is highly recommended. +See [Quickstart-Setup-SOPASair.md](doc/Quickstart-Setup-SOPASair.md) for a quickstart. +Find detailed information in the operation manuals published on https://supportportal.sick.com/products/localization/lidar-localization/lidar-loc/ . -pointcloud_convert is an usage example for sick_lidar_localization, too, and shows how to subscribe and use the -sick_lidar_localization messages published by the driver. Feel free to use this example as a starting point for -customization. pointcloud_convert in file [src/pointcloud_converter.cpp](src/pointcloud_converter.cpp) -is just the main entry point. Conversion and message handling is implemented in class -sick_lidar_localization::PointCloudConverter in file [src/pointcloud_converter.cpp](src/pointcloud_converter_thread.cpp). +### Test and diagnosis -## Source code, doxygen +:question: How can I activate informational messages for tests and diagnosis? -The main entry point of the ros driver is implemented in file [src/driver.cpp](src/driver.cpp). -It creates an instance of class sick_lidar_localization::DriverMonitor implemented in [src/driver_monitor.cpp](src/driver_monitor.cpp). +:white_check_mark: Start sick_lidar_localization with option `verbose:=1` to activate informational messages. -sick_lidar_localization::DriverMonitor creates and monitors an instance of class sick_lidar_localization::DriverThread implemented in -[src/driver_thread.cpp](src/driver_thread.cpp), which runs all driver functions, including the -telegram parser implemented by class sick_lidar_localization::ResultPortParser. +:question: How can I record and save localization data for offline tests and diagnosis? -After successful initialization, the driver runs 3 threads: +:white_check_mark: Use wireshark to save udp-data from the localization server as described in [udp data recording](doc/sick_localization_recording.md) -- The receiver thread implemented by sick_lidar_localization::DriverThread::runReceiverThreadCb in file -[src/driver_thread.cpp](src/driver_thread.cpp). The receiver thread connects to the localization -controller, receives binary result telegram and buffers them in a fifo (first-in, first-out) +### Error messages -- The converter thread implemented by sick_lidar_localization::DriverThread::runConverterThreadCb in file -[src/driver_thread.cpp](src/driver_thread.cpp). The converter thread pops binary telegrams from the -fifo, decodes and parses result port telegrams and publishes telegram messages on ros topic -"/sick_lidar_localization/driver/result_telegrams". Telegram decoding is implemented by sick_lidar_localization::ResultPortParser::decode -in file [src/result_port_parser.cpp](src/result_port_parser.cpp). +:question: `ModuleNotFoundError: No module named flask` when running sick_rest_server.py -- The monitoring thread implemented by sick_lidar_localization::DriverMonitor::runMonitorThreadCb in file -[src/driver_monitor.cpp](src/driver_monitor.cpp). It subscribes and monitors the telegram messages from -sick_lidar_localization::DriverThread. In case of errors or missing telegram messages, the tcp connection to the -localization controller is closed and re-established. +:white_check_mark: sick_rest_server.py requires python3 and flask. Install flask with `pip install flask` (on Linux, use `pip3 install flask`) -Doxygen source code documentation is supported. To build the doxygen source code documentation, run the following commands (ROS1): +:question: `ModuleNotFoundError: No module named pcapng` when running sim_pcapng_player.py -```console -cd ~/catkin_ws -catkin_make RunDoxygen +:white_check_mark: sick_rest_server.py requires python3 with modules scapy, pypcapfile and python-pcapng. Install with `pip` (resp `pip3` on Linux): ``` - -Doxygen will create source code documentation in folder `~/catkin_ws/build/sick_lidar_localization/doxygen`. Run -```console -firefox ~/catkin_ws/build/sick_lidar_localization/doxygen/html/index.html & -``` -to view the doxygen generated html documentation. - -Note: Doxygen needs to be installed. If package doxygen wasn't found during build, run -```console -sudo apt-get install doxygen +pip install scapy +pip install pypcapfile +pip install python-pcapng ``` -to install doxygen. - -## FAQ, troubleshooting and further documentation - -FAQ, troubleshooting: -* FAQ: [doc/faq.md](doc/faq.md) +:question: UDP messages have CRC checksum error in wireshark or tcpdump -Quickstart, tutorials and manuals: +:white_check_mark: Excerpt from https://docs.gz.ro/tuning-network-cards-on-linux.html : "If you have offload features enabled and you see chksum incorrect in tcpdump output, without any packet errors and your network is working properly: it is nothing to worry about because the checksum is actually calculated on the network adapter and the tcpdump is showing the checksum calculated on kernel level." -* Quickstart Setup LiDAR-LOC: [doc/Quickstart-Setup-SOPASair.md](doc/Quickstart-Setup-SOPASair.md) +:question: Error MSB3491 on Windows: "Could not write lines to file. The fully qualified file name must be less than 260 characters" -* Operation manuals: https://supportportal.sick.com/Product_notes/lidar-loc-operating-instructions/ +:white_check_mark: Possible solutions are f.e. +* Just clone repository https://github.com/SICKAG/sick_lidar_localization into a short path, f.e. directly to `C:\`: + ``` + cd c:\ + git clone https://github.com/SICKAG/sick_lidar_localization.git + ``` +* Use subst to shorten long paths, f.e.: + ``` + subst s: + cd /d s:\ + ``` +* See https://docs.ros.org/en/foxy/Guides/Installation-Troubleshooting.html: + * Run regedit.exe, navigate to Computer\HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Control\FileSystem, and set LongPathsEnabled to 0x00000001 (1). + * Hit the windows key and type Edit Group Policy. Navigate to Local Computer Policy > Computer Configuration > Administrative Templates > System > Filesystem. Right click Enable Win32 long paths, click Edit. 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For instance to make doxygen treat -# .inc files as Fortran files (default is PHP), and .f files as C (default is -# Fortran), use: inc=Fortran f=C. -# -# Note: For files without extension you can use no_extension as a placeholder. -# -# Note that for custom extensions you also need to set FILE_PATTERNS otherwise -# the files are not read by doxygen. - -EXTENSION_MAPPING = - -# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments -# according to the Markdown format, which allows for more readable -# documentation. See https://daringfireball.net/projects/markdown/ for details. -# The output of markdown processing is further processed by doxygen, so you can -# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in -# case of backward compatibilities issues. -# The default value is: YES. - -MARKDOWN_SUPPORT = YES - -# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up -# to that level are automatically included in the table of contents, even if -# they do not have an id attribute. -# Note: This feature currently applies only to Markdown headings. -# Minimum value: 0, maximum value: 99, default value: 5. -# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. - -TOC_INCLUDE_HEADINGS = 5 - -# When enabled doxygen tries to link words that correspond to documented -# classes, or namespaces to their corresponding documentation. Such a link can -# be prevented in individual cases by putting a % sign in front of the word or -# globally by setting AUTOLINK_SUPPORT to NO. -# The default value is: YES. - -AUTOLINK_SUPPORT = YES - -# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want -# to include (a tag file for) the STL sources as input, then you should set this -# tag to YES in order to let doxygen match functions declarations and -# definitions whose arguments contain STL classes (e.g. func(std::string); -# versus func(std::string) {}). This also make the inheritance and collaboration -# diagrams that involve STL classes more complete and accurate. -# The default value is: NO. - -BUILTIN_STL_SUPPORT = NO - -# If you use Microsoft's C++/CLI language, you should set this option to YES to -# enable parsing support. -# The default value is: NO. - -CPP_CLI_SUPPORT = NO - -# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: -# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen -# will parse them like normal C++ but will assume all classes use public instead -# of private inheritance when no explicit protection keyword is present. -# The default value is: NO. - -SIP_SUPPORT = NO - -# For Microsoft's IDL there are propget and propput attributes to indicate -# getter and setter methods for a property. Setting this option to YES will make -# doxygen to replace the get and set methods by a property in the documentation. -# This will only work if the methods are indeed getting or setting a simple -# type. If this is not the case, or you want to show the methods anyway, you -# should set this option to NO. -# The default value is: YES. - -IDL_PROPERTY_SUPPORT = YES - -# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC -# tag is set to YES then doxygen will reuse the documentation of the first -# member in the group (if any) for the other members of the group. By default -# all members of a group must be documented explicitly. -# The default value is: NO. - -DISTRIBUTE_GROUP_DOC = NO - -# If one adds a struct or class to a group and this option is enabled, then also -# any nested class or struct is added to the same group. By default this option -# is disabled and one has to add nested compounds explicitly via \ingroup. -# The default value is: NO. - -GROUP_NESTED_COMPOUNDS = NO - -# Set the SUBGROUPING tag to YES to allow class member groups of the same type -# (for instance a group of public functions) to be put as a subgroup of that -# type (e.g. under the Public Functions section). Set it to NO to prevent -# subgrouping. Alternatively, this can be done per class using the -# \nosubgrouping command. -# The default value is: YES. - -SUBGROUPING = YES - -# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions -# are shown inside the group in which they are included (e.g. using \ingroup) -# instead of on a separate page (for HTML and Man pages) or section (for LaTeX -# and RTF). -# -# Note that this feature does not work in combination with -# SEPARATE_MEMBER_PAGES. -# The default value is: NO. - -INLINE_GROUPED_CLASSES = NO - -# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions -# with only public data fields or simple typedef fields will be shown inline in -# the documentation of the scope in which they are defined (i.e. file, -# namespace, or group documentation), provided this scope is documented. If set -# to NO, structs, classes, and unions are shown on a separate page (for HTML and -# Man pages) or section (for LaTeX and RTF). -# The default value is: NO. - -INLINE_SIMPLE_STRUCTS = NO - -# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or -# enum is documented as struct, union, or enum with the name of the typedef. So -# typedef struct TypeS {} TypeT, will appear in the documentation as a struct -# with name TypeT. When disabled the typedef will appear as a member of a file, -# namespace, or class. And the struct will be named TypeS. This can typically be -# useful for C code in case the coding convention dictates that all compound -# types are typedef'ed and only the typedef is referenced, never the tag name. -# The default value is: NO. - -TYPEDEF_HIDES_STRUCT = NO - -# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This -# cache is used to resolve symbols given their name and scope. Since this can be -# an expensive process and often the same symbol appears multiple times in the -# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small -# doxygen will become slower. If the cache is too large, memory is wasted. The -# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range -# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 -# symbols. At the end of a run doxygen will report the cache usage and suggest -# the optimal cache size from a speed point of view. -# Minimum value: 0, maximum value: 9, default value: 0. - -LOOKUP_CACHE_SIZE = 0 - -#--------------------------------------------------------------------------- -# Build related configuration options -#--------------------------------------------------------------------------- - -# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in -# documentation are documented, even if no documentation was available. Private -# class members and static file members will be hidden unless the -# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. -# Note: This will also disable the warnings about undocumented members that are -# normally produced when WARNINGS is set to YES. -# The default value is: NO. - -EXTRACT_ALL = NO - -# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will -# be included in the documentation. -# The default value is: NO. - -EXTRACT_PRIVATE = NO - -# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual -# methods of a class will be included in the documentation. -# The default value is: NO. - -#EXTRACT_PRIV_VIRTUAL = NO - -# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal -# scope will be included in the documentation. -# The default value is: NO. - -EXTRACT_PACKAGE = NO - -# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be -# included in the documentation. -# The default value is: NO. - -EXTRACT_STATIC = NO - -# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined -# locally in source files will be included in the documentation. If set to NO, -# only classes defined in header files are included. Does not have any effect -# for Java sources. -# The default value is: YES. - -EXTRACT_LOCAL_CLASSES = YES - -# This flag is only useful for Objective-C code. If set to YES, local methods, -# which are defined in the implementation section but not in the interface are -# included in the documentation. If set to NO, only methods in the interface are -# included. -# The default value is: NO. - -EXTRACT_LOCAL_METHODS = NO - -# If this flag is set to YES, the members of anonymous namespaces will be -# extracted and appear in the documentation as a namespace called -# 'anonymous_namespace{file}', where file will be replaced with the base name of -# the file that contains the anonymous namespace. By default anonymous namespace -# are hidden. -# The default value is: NO. - -EXTRACT_ANON_NSPACES = NO - -# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all -# undocumented members inside documented classes or files. If set to NO these -# members will be included in the various overviews, but no documentation -# section is generated. This option has no effect if EXTRACT_ALL is enabled. -# The default value is: NO. - -HIDE_UNDOC_MEMBERS = NO - -# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all -# undocumented classes that are normally visible in the class hierarchy. If set -# to NO, these classes will be included in the various overviews. This option -# has no effect if EXTRACT_ALL is enabled. -# The default value is: NO. - -HIDE_UNDOC_CLASSES = NO - -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend -# (class|struct|union) declarations. If set to NO, these declarations will be -# included in the documentation. -# The default value is: NO. - -HIDE_FRIEND_COMPOUNDS = NO - -# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any -# documentation blocks found inside the body of a function. If set to NO, these -# blocks will be appended to the function's detailed documentation block. -# The default value is: NO. - -HIDE_IN_BODY_DOCS = NO - -# The INTERNAL_DOCS tag determines if documentation that is typed after a -# \internal command is included. If the tag is set to NO then the documentation -# will be excluded. Set it to YES to include the internal documentation. -# The default value is: NO. - -INTERNAL_DOCS = NO - -# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file -# names in lower-case letters. If set to YES, upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows -# (including Cygwin) ands Mac users are advised to set this option to NO. -# The default value is: system dependent. - -CASE_SENSE_NAMES = NO - -# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with -# their full class and namespace scopes in the documentation. If set to YES, the -# scope will be hidden. -# The default value is: NO. - -HIDE_SCOPE_NAMES = NO - -# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will -# append additional text to a page's title, such as Class Reference. If set to -# YES the compound reference will be hidden. -# The default value is: NO. - -HIDE_COMPOUND_REFERENCE= NO - -# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of -# the files that are included by a file in the documentation of that file. -# The default value is: YES. - -SHOW_INCLUDE_FILES = YES - -# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each -# grouped member an include statement to the documentation, telling the reader -# which file to include in order to use the member. -# The default value is: NO. - -SHOW_GROUPED_MEMB_INC = NO - -# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include -# files with double quotes in the documentation rather than with sharp brackets. -# The default value is: NO. - -FORCE_LOCAL_INCLUDES = NO - -# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the -# documentation for inline members. -# The default value is: YES. - -INLINE_INFO = YES - -# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the -# (detailed) documentation of file and class members alphabetically by member -# name. If set to NO, the members will appear in declaration order. -# The default value is: YES. - -SORT_MEMBER_DOCS = YES - -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief -# descriptions of file, namespace and class members alphabetically by member -# name. If set to NO, the members will appear in declaration order. Note that -# this will also influence the order of the classes in the class list. -# The default value is: NO. - -SORT_BRIEF_DOCS = NO - -# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the -# (brief and detailed) documentation of class members so that constructors and -# destructors are listed first. If set to NO the constructors will appear in the -# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. -# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief -# member documentation. -# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting -# detailed member documentation. -# The default value is: NO. - -SORT_MEMBERS_CTORS_1ST = NO - -# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy -# of group names into alphabetical order. If set to NO the group names will -# appear in their defined order. -# The default value is: NO. - -SORT_GROUP_NAMES = NO - -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by -# fully-qualified names, including namespaces. If set to NO, the class list will -# be sorted only by class name, not including the namespace part. -# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. -# Note: This option applies only to the class list, not to the alphabetical -# list. -# The default value is: NO. - -SORT_BY_SCOPE_NAME = NO - -# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper -# type resolution of all parameters of a function it will reject a match between -# the prototype and the implementation of a member function even if there is -# only one candidate or it is obvious which candidate to choose by doing a -# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still -# accept a match between prototype and implementation in such cases. -# The default value is: NO. - -STRICT_PROTO_MATCHING = NO - -# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo -# list. This list is created by putting \todo commands in the documentation. -# The default value is: YES. - -GENERATE_TODOLIST = YES - -# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test -# list. This list is created by putting \test commands in the documentation. -# The default value is: YES. - -GENERATE_TESTLIST = YES - -# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug -# list. This list is created by putting \bug commands in the documentation. -# The default value is: YES. - -GENERATE_BUGLIST = YES - -# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) -# the deprecated list. This list is created by putting \deprecated commands in -# the documentation. -# The default value is: YES. - -GENERATE_DEPRECATEDLIST= YES - -# The ENABLED_SECTIONS tag can be used to enable conditional documentation -# sections, marked by \if ... \endif and \cond -# ... \endcond blocks. - -ENABLED_SECTIONS = - -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the -# initial value of a variable or macro / define can have for it to appear in the -# documentation. If the initializer consists of more lines than specified here -# it will be hidden. Use a value of 0 to hide initializers completely. The -# appearance of the value of individual variables and macros / defines can be -# controlled using \showinitializer or \hideinitializer command in the -# documentation regardless of this setting. -# Minimum value: 0, maximum value: 10000, default value: 30. - -MAX_INITIALIZER_LINES = 30 - -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at -# the bottom of the documentation of classes and structs. If set to YES, the -# list will mention the files that were used to generate the documentation. -# The default value is: YES. - -SHOW_USED_FILES = YES - -# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This -# will remove the Files entry from the Quick Index and from the Folder Tree View -# (if specified). -# The default value is: YES. - -SHOW_FILES = YES - -# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces -# page. This will remove the Namespaces entry from the Quick Index and from the -# Folder Tree View (if specified). -# The default value is: YES. - -SHOW_NAMESPACES = YES - -# The FILE_VERSION_FILTER tag can be used to specify a program or script that -# doxygen should invoke to get the current version for each file (typically from -# the version control system). Doxygen will invoke the program by executing (via -# popen()) the command command input-file, where command is the value of the -# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided -# by doxygen. Whatever the program writes to standard output is used as the file -# version. For an example see the documentation. - -FILE_VERSION_FILTER = - -# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed -# by doxygen. The layout file controls the global structure of the generated -# output files in an output format independent way. To create the layout file -# that represents doxygen's defaults, run doxygen with the -l option. You can -# optionally specify a file name after the option, if omitted DoxygenLayout.xml -# will be used as the name of the layout file. -# -# Note that if you run doxygen from a directory containing a file called -# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE -# tag is left empty. - -LAYOUT_FILE = - -# The CITE_BIB_FILES tag can be used to specify one or more bib files containing -# the reference definitions. This must be a list of .bib files. The .bib -# extension is automatically appended if omitted. This requires the bibtex tool -# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. -# For LaTeX the style of the bibliography can be controlled using -# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the -# search path. See also \cite for info how to create references. - -CITE_BIB_FILES = - -#--------------------------------------------------------------------------- -# Configuration options related to warning and progress messages -#--------------------------------------------------------------------------- - -# The QUIET tag can be used to turn on/off the messages that are generated to -# standard output by doxygen. If QUIET is set to YES this implies that the -# messages are off. -# The default value is: NO. - -QUIET = NO - -# The WARNINGS tag can be used to turn on/off the warning messages that are -# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES -# this implies that the warnings are on. -# -# Tip: Turn warnings on while writing the documentation. -# The default value is: YES. - -WARNINGS = YES - -# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate -# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag -# will automatically be disabled. -# The default value is: YES. - -WARN_IF_UNDOCUMENTED = YES - -# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as not documenting some parameters -# in a documented function, or documenting parameters that don't exist or using -# markup commands wrongly. -# The default value is: YES. - -WARN_IF_DOC_ERROR = YES - -# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that -# are documented, but have no documentation for their parameters or return -# value. If set to NO, doxygen will only warn about wrong or incomplete -# parameter documentation, but not about the absence of documentation. If -# EXTRACT_ALL is set to YES then this flag will automatically be disabled. -# The default value is: NO. - -WARN_NO_PARAMDOC = NO - -# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when -# a warning is encountered. -# The default value is: NO. - -WARN_AS_ERROR = NO - -# The WARN_FORMAT tag determines the format of the warning messages that doxygen -# can produce. The string should contain the $file, $line, and $text tags, which -# will be replaced by the file and line number from which the warning originated -# and the warning text. Optionally the format may contain $version, which will -# be replaced by the version of the file (if it could be obtained via -# FILE_VERSION_FILTER) -# The default value is: $file:$line: $text. - -WARN_FORMAT = "$file:$line: $text" - -# The WARN_LOGFILE tag can be used to specify a file to which warning and error -# messages should be written. If left blank the output is written to standard -# error (stderr). - -WARN_LOGFILE = - -#--------------------------------------------------------------------------- -# Configuration options related to the input files -#--------------------------------------------------------------------------- - -# The INPUT tag is used to specify the files and/or directories that contain -# documented source files. You may enter file names like myfile.cpp or -# directories like /usr/src/myproject. Separate the files or directories with -# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING -# Note: If this tag is empty the current directory is searched. - -INPUT = @CMAKE_CURRENT_SOURCE_DIR@ - -# This tag can be used to specify the character encoding of the source files -# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses -# libiconv (or the iconv built into libc) for the transcoding. See the libiconv -# documentation (see: https://www.gnu.org/software/libiconv/) for the list of -# possible encodings. -# The default value is: UTF-8. - -INPUT_ENCODING = UTF-8 - -# If the value of the INPUT tag contains directories, you can use the -# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and -# *.h) to filter out the source-files in the directories. -# -# Note that for custom extensions or not directly supported extensions you also -# need to set EXTENSION_MAPPING for the extension otherwise the files are not -# read by doxygen. -# -# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, -# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, -# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, -# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, -# *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf, *.qsf and *.ice. - -FILE_PATTERNS = *.c \ - *.cc \ - *.cxx \ - *.cpp \ - *.c++ \ - *.java \ - *.ii \ - *.ixx \ - *.ipp \ - *.i++ \ - *.inl \ - *.idl \ - *.ddl \ - *.odl \ - *.h \ - *.hh \ - *.hxx \ - *.hpp \ - *.h++ \ - *.cs \ - *.d \ - *.php \ - *.php4 \ - *.php5 \ - *.phtml \ - *.inc \ - *.m \ - *.mm \ - *.dox \ - *.py \ - *.pyw \ - *.f90 \ - *.f95 \ - *.f03 \ - *.f08 \ - *.f \ - *.for \ - *.tcl \ - *.vhd \ - *.vhdl \ - *.ucf \ - *.qsf \ - *.ice - # *.markdown \ - # *.md \ - -# The RECURSIVE tag can be used to specify whether or not subdirectories should -# be searched for input files as well. -# The default value is: NO. - -RECURSIVE = YES - -# The EXCLUDE tag can be used to specify files and/or directories that should be -# excluded from the INPUT source files. This way you can easily exclude a -# subdirectory from a directory tree whose root is specified with the INPUT tag. -# -# Note that relative paths are relative to the directory from which doxygen is -# run. - -EXCLUDE = - -# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or -# directories that are symbolic links (a Unix file system feature) are excluded -# from the input. -# The default value is: NO. - -EXCLUDE_SYMLINKS = NO - -# If the value of the INPUT tag contains directories, you can use the -# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. -# -# Note that the wildcards are matched against the file with absolute path, so to -# exclude all test directories for example use the pattern */test/* - -EXCLUDE_PATTERNS = - -# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names -# (namespaces, classes, functions, etc.) that should be excluded from the -# output. The symbol name can be a fully qualified name, a word, or if the -# wildcard * is used, a substring. Examples: ANamespace, AClass, -# AClass::ANamespace, ANamespace::*Test -# -# Note that the wildcards are matched against the file with absolute path, so to -# exclude all test directories use the pattern */test/* - -EXCLUDE_SYMBOLS = - -# The EXAMPLE_PATH tag can be used to specify one or more files or directories -# that contain example code fragments that are included (see the \include -# command). - -EXAMPLE_PATH = - -# If the value of the EXAMPLE_PATH tag contains directories, you can use the -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and -# *.h) to filter out the source-files in the directories. If left blank all -# files are included. - -EXAMPLE_PATTERNS = * - -# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be -# searched for input files to be used with the \include or \dontinclude commands -# irrespective of the value of the RECURSIVE tag. -# The default value is: NO. - -EXAMPLE_RECURSIVE = NO - -# The IMAGE_PATH tag can be used to specify one or more files or directories -# that contain images that are to be included in the documentation (see the -# \image command). - -IMAGE_PATH = - -# The INPUT_FILTER tag can be used to specify a program that doxygen should -# invoke to filter for each input file. Doxygen will invoke the filter program -# by executing (via popen()) the command: -# -# -# -# where is the value of the INPUT_FILTER tag, and is the -# name of an input file. Doxygen will then use the output that the filter -# program writes to standard output. If FILTER_PATTERNS is specified, this tag -# will be ignored. -# -# Note that the filter must not add or remove lines; it is applied before the -# code is scanned, but not when the output code is generated. If lines are added -# or removed, the anchors will not be placed correctly. -# -# Note that for custom extensions or not directly supported extensions you also -# need to set EXTENSION_MAPPING for the extension otherwise the files are not -# properly processed by doxygen. - -INPUT_FILTER = - -# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern -# basis. Doxygen will compare the file name with each pattern and apply the -# filter if there is a match. The filters are a list of the form: pattern=filter -# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how -# filters are used. If the FILTER_PATTERNS tag is empty or if none of the -# patterns match the file name, INPUT_FILTER is applied. -# -# Note that for custom extensions or not directly supported extensions you also -# need to set EXTENSION_MAPPING for the extension otherwise the files are not -# properly processed by doxygen. - -FILTER_PATTERNS = - -# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using -# INPUT_FILTER) will also be used to filter the input files that are used for -# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). -# The default value is: NO. - -FILTER_SOURCE_FILES = NO - -# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file -# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and -# it is also possible to disable source filtering for a specific pattern using -# *.ext= (so without naming a filter). -# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. - -FILTER_SOURCE_PATTERNS = - -# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that -# is part of the input, its contents will be placed on the main page -# (index.html). This can be useful if you have a project on for instance GitHub -# and want to reuse the introduction page also for the doxygen output. - -USE_MDFILE_AS_MAINPAGE = - -#--------------------------------------------------------------------------- -# Configuration options related to source browsing -#--------------------------------------------------------------------------- - -# If the SOURCE_BROWSER tag is set to YES then a list of source files will be -# generated. Documented entities will be cross-referenced with these sources. -# -# Note: To get rid of all source code in the generated output, make sure that -# also VERBATIM_HEADERS is set to NO. -# The default value is: NO. - -SOURCE_BROWSER = NO - -# Setting the INLINE_SOURCES tag to YES will include the body of functions, -# classes and enums directly into the documentation. -# The default value is: NO. - -INLINE_SOURCES = YES - -# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any -# special comment blocks from generated source code fragments. Normal C, C++ and -# Fortran comments will always remain visible. -# The default value is: YES. - -STRIP_CODE_COMMENTS = YES - -# If the REFERENCED_BY_RELATION tag is set to YES then for each documented -# entity all documented functions referencing it will be listed. -# The default value is: NO. - -REFERENCED_BY_RELATION = NO - -# If the REFERENCES_RELATION tag is set to YES then for each documented function -# all documented entities called/used by that function will be listed. -# The default value is: NO. - -REFERENCES_RELATION = NO - -# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set -# to YES then the hyperlinks from functions in REFERENCES_RELATION and -# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will -# link to the documentation. -# The default value is: YES. - -REFERENCES_LINK_SOURCE = YES - -# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the -# source code will show a tooltip with additional information such as prototype, -# brief description and links to the definition and documentation. Since this -# will make the HTML file larger and loading of large files a bit slower, you -# can opt to disable this feature. -# The default value is: YES. -# This tag requires that the tag SOURCE_BROWSER is set to YES. - -SOURCE_TOOLTIPS = YES - -# If the USE_HTAGS tag is set to YES then the references to source code will -# point to the HTML generated by the htags(1) tool instead of doxygen built-in -# source browser. The htags tool is part of GNU's global source tagging system -# (see https://www.gnu.org/software/global/global.html). You will need version -# 4.8.6 or higher. -# -# To use it do the following: -# - Install the latest version of global -# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file -# - Make sure the INPUT points to the root of the source tree -# - Run doxygen as normal -# -# Doxygen will invoke htags (and that will in turn invoke gtags), so these -# tools must be available from the command line (i.e. in the search path). -# -# The result: instead of the source browser generated by doxygen, the links to -# source code will now point to the output of htags. -# The default value is: NO. -# This tag requires that the tag SOURCE_BROWSER is set to YES. - -USE_HTAGS = NO - -# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a -# verbatim copy of the header file for each class for which an include is -# specified. Set to NO to disable this. -# See also: Section \class. -# The default value is: YES. - -VERBATIM_HEADERS = YES - -# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the -# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the -# cost of reduced performance. This can be particularly helpful with template -# rich C++ code for which doxygen's built-in parser lacks the necessary type -# information. -# Note: The availability of this option depends on whether or not doxygen was -# generated with the -Duse_libclang=ON option for CMake. -# The default value is: NO. - -CLANG_ASSISTED_PARSING = NO - -# If clang assisted parsing is enabled you can provide the compiler with command -# line options that you would normally use when invoking the compiler. Note that -# the include paths will already be set by doxygen for the files and directories -# specified with INPUT and INCLUDE_PATH. -# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. - -CLANG_OPTIONS = - -# If clang assisted parsing is enabled you can provide the clang parser with the -# path to the compilation database (see: -# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) used when the files -# were built. This is equivalent to specifying the "-p" option to a clang tool, -# such as clang-check. These options will then be passed to the parser. -# Note: The availability of this option depends on whether or not doxygen was -# generated with the -Duse_libclang=ON option for CMake. - -#CLANG_DATABASE_PATH = - -#--------------------------------------------------------------------------- -# Configuration options related to the alphabetical class index -#--------------------------------------------------------------------------- - -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all -# compounds will be generated. Enable this if the project contains a lot of -# classes, structs, unions or interfaces. -# The default value is: YES. - -ALPHABETICAL_INDEX = YES - -# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in -# which the alphabetical index list will be split. -# Minimum value: 1, maximum value: 20, default value: 5. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. - -COLS_IN_ALPHA_INDEX = 5 - -# In case all classes in a project start with a common prefix, all classes will -# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag -# can be used to specify a prefix (or a list of prefixes) that should be ignored -# while generating the index headers. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. - -IGNORE_PREFIX = - -#--------------------------------------------------------------------------- -# Configuration options related to the HTML output -#--------------------------------------------------------------------------- - -# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output -# The default value is: YES. - -GENERATE_HTML = YES - -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a -# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of -# it. -# The default directory is: html. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_OUTPUT = html - -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each -# generated HTML page (for example: .htm, .php, .asp). -# The default value is: .html. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_FILE_EXTENSION = .html - -# The HTML_HEADER tag can be used to specify a user-defined HTML header file for -# each generated HTML page. If the tag is left blank doxygen will generate a -# standard header. -# -# To get valid HTML the header file that includes any scripts and style sheets -# that doxygen needs, which is dependent on the configuration options used (e.g. -# the setting GENERATE_TREEVIEW). It is highly recommended to start with a -# default header using -# doxygen -w html new_header.html new_footer.html new_stylesheet.css -# YourConfigFile -# and then modify the file new_header.html. See also section "Doxygen usage" -# for information on how to generate the default header that doxygen normally -# uses. -# Note: The header is subject to change so you typically have to regenerate the -# default header when upgrading to a newer version of doxygen. For a description -# of the possible markers and block names see the documentation. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_HEADER = - -# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each -# generated HTML page. If the tag is left blank doxygen will generate a standard -# footer. See HTML_HEADER for more information on how to generate a default -# footer and what special commands can be used inside the footer. See also -# section "Doxygen usage" for information on how to generate the default footer -# that doxygen normally uses. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_FOOTER = - -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style -# sheet that is used by each HTML page. It can be used to fine-tune the look of -# the HTML output. If left blank doxygen will generate a default style sheet. -# See also section "Doxygen usage" for information on how to generate the style -# sheet that doxygen normally uses. -# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as -# it is more robust and this tag (HTML_STYLESHEET) will in the future become -# obsolete. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_STYLESHEET = - -# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined -# cascading style sheets that are included after the standard style sheets -# created by doxygen. Using this option one can overrule certain style aspects. -# This is preferred over using HTML_STYLESHEET since it does not replace the -# standard style sheet and is therefore more robust against future updates. -# Doxygen will copy the style sheet files to the output directory. -# Note: The order of the extra style sheet files is of importance (e.g. the last -# style sheet in the list overrules the setting of the previous ones in the -# list). For an example see the documentation. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_EXTRA_STYLESHEET = - -# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or -# other source files which should be copied to the HTML output directory. Note -# that these files will be copied to the base HTML output directory. Use the -# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these -# files. In the HTML_STYLESHEET file, use the file name only. Also note that the -# files will be copied as-is; there are no commands or markers available. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_EXTRA_FILES = - -# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen -# will adjust the colors in the style sheet and background images according to -# this color. Hue is specified as an angle on a colorwheel, see -# https://en.wikipedia.org/wiki/Hue for more information. For instance the value -# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 -# purple, and 360 is red again. -# Minimum value: 0, maximum value: 359, default value: 220. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_HUE = 220 - -# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors -# in the HTML output. For a value of 0 the output will use grayscales only. A -# value of 255 will produce the most vivid colors. -# Minimum value: 0, maximum value: 255, default value: 100. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_SAT = 100 - -# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the -# luminance component of the colors in the HTML output. Values below 100 -# gradually make the output lighter, whereas values above 100 make the output -# darker. The value divided by 100 is the actual gamma applied, so 80 represents -# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not -# change the gamma. -# Minimum value: 40, maximum value: 240, default value: 80. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_GAMMA = 80 - -# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML -# page will contain the date and time when the page was generated. Setting this -# to YES can help to show when doxygen was last run and thus if the -# documentation is up to date. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_TIMESTAMP = NO - -# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML -# documentation will contain a main index with vertical navigation menus that -# are dynamically created via Javascript. If disabled, the navigation index will -# consists of multiple levels of tabs that are statically embedded in every HTML -# page. Disable this option to support browsers that do not have Javascript, -# like the Qt help browser. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. - -#HTML_DYNAMIC_MENUS = YES - -# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML -# documentation will contain sections that can be hidden and shown after the -# page has loaded. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_DYNAMIC_SECTIONS = NO - -# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries -# shown in the various tree structured indices initially; the user can expand -# and collapse entries dynamically later on. Doxygen will expand the tree to -# such a level that at most the specified number of entries are visible (unless -# a fully collapsed tree already exceeds this amount). So setting the number of -# entries 1 will produce a full collapsed tree by default. 0 is a special value -# representing an infinite number of entries and will result in a full expanded -# tree by default. -# Minimum value: 0, maximum value: 9999, default value: 100. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_INDEX_NUM_ENTRIES = 100 - -# If the GENERATE_DOCSET tag is set to YES, additional index files will be -# generated that can be used as input for Apple's Xcode 3 integrated development -# environment (see: https://developer.apple.com/xcode/), introduced with OSX -# 10.5 (Leopard). To create a documentation set, doxygen will generate a -# Makefile in the HTML output directory. Running make will produce the docset in -# that directory and running make install will install the docset in -# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at -# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy -# genXcode/_index.html for more information. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_DOCSET = NO - -# This tag determines the name of the docset feed. A documentation feed provides -# an umbrella under which multiple documentation sets from a single provider -# (such as a company or product suite) can be grouped. -# The default value is: Doxygen generated docs. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_FEEDNAME = "Doxygen generated docs" - -# This tag specifies a string that should uniquely identify the documentation -# set bundle. This should be a reverse domain-name style string, e.g. -# com.mycompany.MyDocSet. Doxygen will append .docset to the name. -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_BUNDLE_ID = org.doxygen.Project - -# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify -# the documentation publisher. This should be a reverse domain-name style -# string, e.g. com.mycompany.MyDocSet.documentation. -# The default value is: org.doxygen.Publisher. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_PUBLISHER_ID = org.doxygen.Publisher - -# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. -# The default value is: Publisher. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_PUBLISHER_NAME = Publisher - -# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three -# additional HTML index files: index.hhp, index.hhc, and index.hhk. The -# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop -# (see: https://www.microsoft.com/en-us/download/details.aspx?id=21138) on -# Windows. -# -# The HTML Help Workshop contains a compiler that can convert all HTML output -# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML -# files are now used as the Windows 98 help format, and will replace the old -# Windows help format (.hlp) on all Windows platforms in the future. Compressed -# HTML files also contain an index, a table of contents, and you can search for -# words in the documentation. The HTML workshop also contains a viewer for -# compressed HTML files. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_HTMLHELP = NO - -# The CHM_FILE tag can be used to specify the file name of the resulting .chm -# file. You can add a path in front of the file if the result should not be -# written to the html output directory. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -CHM_FILE = - -# The HHC_LOCATION tag can be used to specify the location (absolute path -# including file name) of the HTML help compiler (hhc.exe). If non-empty, -# doxygen will try to run the HTML help compiler on the generated index.hhp. -# The file has to be specified with full path. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -HHC_LOCATION = - -# The GENERATE_CHI flag controls if a separate .chi index file is generated -# (YES) or that it should be included in the master .chm file (NO). -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -GENERATE_CHI = NO - -# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) -# and project file content. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -CHM_INDEX_ENCODING = - -# The BINARY_TOC flag controls whether a binary table of contents is generated -# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it -# enables the Previous and Next buttons. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -BINARY_TOC = NO - -# The TOC_EXPAND flag can be set to YES to add extra items for group members to -# the table of contents of the HTML help documentation and to the tree view. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -TOC_EXPAND = NO - -# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and -# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that -# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help -# (.qch) of the generated HTML documentation. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_QHP = NO - -# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify -# the file name of the resulting .qch file. The path specified is relative to -# the HTML output folder. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QCH_FILE = - -# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help -# Project output. For more information please see Qt Help Project / Namespace -# (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_NAMESPACE = org.doxygen.Project - -# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt -# Help Project output. For more information please see Qt Help Project / Virtual -# Folders (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual- -# folders). -# The default value is: doc. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_VIRTUAL_FOLDER = doc - -# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom -# filter to add. For more information please see Qt Help Project / Custom -# Filters (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom- -# filters). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_CUST_FILTER_NAME = - -# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the -# custom filter to add. For more information please see Qt Help Project / Custom -# Filters (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom- -# filters). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_CUST_FILTER_ATTRS = - -# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this -# project's filter section matches. Qt Help Project / Filter Attributes (see: -# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_SECT_FILTER_ATTRS = - -# The QHG_LOCATION tag can be used to specify the location of Qt's -# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the -# generated .qhp file. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHG_LOCATION = - -# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be -# generated, together with the HTML files, they form an Eclipse help plugin. To -# install this plugin and make it available under the help contents menu in -# Eclipse, the contents of the directory containing the HTML and XML files needs -# to be copied into the plugins directory of eclipse. The name of the directory -# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. -# After copying Eclipse needs to be restarted before the help appears. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_ECLIPSEHELP = NO - -# A unique identifier for the Eclipse help plugin. When installing the plugin -# the directory name containing the HTML and XML files should also have this -# name. Each documentation set should have its own identifier. -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. - -ECLIPSE_DOC_ID = org.doxygen.Project - -# If you want full control over the layout of the generated HTML pages it might -# be necessary to disable the index and replace it with your own. The -# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top -# of each HTML page. A value of NO enables the index and the value YES disables -# it. Since the tabs in the index contain the same information as the navigation -# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -DISABLE_INDEX = NO - -# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index -# structure should be generated to display hierarchical information. If the tag -# value is set to YES, a side panel will be generated containing a tree-like -# index structure (just like the one that is generated for HTML Help). For this -# to work a browser that supports JavaScript, DHTML, CSS and frames is required -# (i.e. any modern browser). Windows users are probably better off using the -# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can -# further fine-tune the look of the index. As an example, the default style -# sheet generated by doxygen has an example that shows how to put an image at -# the root of the tree instead of the PROJECT_NAME. Since the tree basically has -# the same information as the tab index, you could consider setting -# DISABLE_INDEX to YES when enabling this option. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_TREEVIEW = NO - -# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that -# doxygen will group on one line in the generated HTML documentation. -# -# Note that a value of 0 will completely suppress the enum values from appearing -# in the overview section. -# Minimum value: 0, maximum value: 20, default value: 4. -# This tag requires that the tag GENERATE_HTML is set to YES. - -ENUM_VALUES_PER_LINE = 4 - -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used -# to set the initial width (in pixels) of the frame in which the tree is shown. -# Minimum value: 0, maximum value: 1500, default value: 250. -# This tag requires that the tag GENERATE_HTML is set to YES. - -TREEVIEW_WIDTH = 250 - -# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to -# external symbols imported via tag files in a separate window. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -EXT_LINKS_IN_WINDOW = NO - -# Use this tag to change the font size of LaTeX formulas included as images in -# the HTML documentation. When you change the font size after a successful -# doxygen run you need to manually remove any form_*.png images from the HTML -# output directory to force them to be regenerated. -# Minimum value: 8, maximum value: 50, default value: 10. -# This tag requires that the tag GENERATE_HTML is set to YES. - -FORMULA_FONTSIZE = 10 - -# Use the FORMULA_TRANSPARENT tag to determine whether or not the images -# generated for formulas are transparent PNGs. Transparent PNGs are not -# supported properly for IE 6.0, but are supported on all modern browsers. -# -# Note that when changing this option you need to delete any form_*.png files in -# the HTML output directory before the changes have effect. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. - -FORMULA_TRANSPARENT = YES - -# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see -# https://www.mathjax.org) which uses client side Javascript for the rendering -# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX -# installed or if you want to formulas look prettier in the HTML output. When -# enabled you may also need to install MathJax separately and configure the path -# to it using the MATHJAX_RELPATH option. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -USE_MATHJAX = NO - -# When MathJax is enabled you can set the default output format to be used for -# the MathJax output. See the MathJax site (see: -# http://docs.mathjax.org/en/latest/output.html) for more details. -# Possible values are: HTML-CSS (which is slower, but has the best -# compatibility), NativeMML (i.e. MathML) and SVG. -# The default value is: HTML-CSS. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_FORMAT = HTML-CSS - -# When MathJax is enabled you need to specify the location relative to the HTML -# output directory using the MATHJAX_RELPATH option. The destination directory -# should contain the MathJax.js script. For instance, if the mathjax directory -# is located at the same level as the HTML output directory, then -# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax -# Content Delivery Network so you can quickly see the result without installing -# MathJax. However, it is strongly recommended to install a local copy of -# MathJax from https://www.mathjax.org before deployment. -# The default value is: https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_RELPATH = https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/ - -# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax -# extension names that should be enabled during MathJax rendering. For example -# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_EXTENSIONS = - -# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces -# of code that will be used on startup of the MathJax code. See the MathJax site -# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an -# example see the documentation. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_CODEFILE = - -# When the SEARCHENGINE tag is enabled doxygen will generate a search box for -# the HTML output. The underlying search engine uses javascript and DHTML and -# should work on any modern browser. Note that when using HTML help -# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) -# there is already a search function so this one should typically be disabled. -# For large projects the javascript based search engine can be slow, then -# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to -# search using the keyboard; to jump to the search box use + S -# (what the is depends on the OS and browser, but it is typically -# , /