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Getting Started

Prerequisites

  • Since this package is an extension to NVIDIA ISAAC SDK, we refer the reader to check their current prerequisites list.

Installation

To build NVIDIA's ISAAC along with the driver for SICK AG Safety Scanners:

  • Download ISAAC SDK (version 2019.3 or higher) from https://developer.nvidia.com/isaac/downloads.
  • Extract the ISAAC SDK release in a local folder.
  • Install the required dependencies for ISAAC.
  • Clone this repository into another local folder and open the WORKSPACE file in a text/code editor.
  • Change the path '/home/schulze/tmp/sick/isaac' (line 32) to the path of the location where the ISAAC SDK has been extracted to.
  • To build ISAAC SDK + Sick Safety Scanner package you can simply execute bazel build within the root folder of this package.

Demonstration Apps

Demo1: Receiving scan data

A consumer component is receiving the safety_scan proto messages and sends periodically a 'findMe' command proto to the sensor which causes the display of the sensor to blink in different colors for a few seconds.

To run the demo on the desktop platform execute:

bazel run //packages/sick/apps:sick_safetyscanner_test

Demo2: Visualization on websight

This demo launches ISAAC's websight server and transforms the data from flatscan protos to point cloud protos which in turn get visualized in the browser.

To run the demo on the desktop platform execute:

bazel run //packages/sick/apps:sick_safetyscanner_websight

Then open http://127.0.0.1:3000 in your webbrowser. Enable the data stream for live-visualization by ticking the 'sick_safetyscanner_websight' checkbox (Channels) on the left side. The scan data is 2-dimensional, so you might need to adjust the camera properly.

You can navigate in the 3D plot as follows:

  • Hold the left mouse-button pressed + movement in any direction will let you look around.
  • Hold the left mouse-button pressed + use the arrow keys on your keyboard to move the camera in any direction.

Deployment on Jetson

This package is tested on Jetson Xavier and can be deployed and executed using the deploy.sh script as follows:

Demo1: ./deploy.sh --remote_user <remote_username> -p //packages/sick/apps:sick_safetyscanner_test-pkg -d jetpack43 -h <jetson_ip_address> --run

Demo2: ./deploy.sh --remote_user <remote_username> -p //packages/sick/apps:sick_safetyscanner_websight-pkg -d jetpack43 -h <jetson_ip_address> --run

(Open http://<jetson_ip_address>:3000 in your browser)

If you wish not to immediately run the application after deployment, simply skip the --run flag.

Usage

If you have no prior experience using proto messages (in particular with Capt'n'proto), you can find a very simple example how to setup your own codelet and receiving safety_scanner messages from the sensor driver codelet in /packages/sick/components/Consumer.{cpp/hpp}. It also demonstrates how to send command protos to the sensor.

Inputs

Proto Type Description
find_me_cmd FindMeCommandProto Find-Me sensor command relay with blink time [seconds].

Outputs

Name Type Description
flatscan FlatscanProto A flatscan proto containing only the measurement data of the sensor. All angle values are given in [radians].
safety_scan SafetyScanProto Safety scan proto containing raw data from the sensor. Contains measurement data, derived values, the general system state, safety-field intrusion data and application related data. All angle values are given in [radians].
output_path OutputPathProto Output paths, containing active monitoring case number, safe/valid flags and status.

Parameters

Parameter Description Type Default
sensor_ip The IP4 address of the sensor (COLA2) std::string "192.168.1.100"
host_ip The IP4 address of the receiver of the sensor stream data std::string "192.168.1.100"
host_udp_port UDP port on the receiver of the sensor stream data int 0
tcp_port TCP port of the sensor (COLA2) int 2122
channel The channel number used by the sensor int 0
channel_enabled Determines whether to set the channel active bool true
flatscan_pub_active If enabled, flatscan protos are published bool false
safety_pub_active If enabled, safety_scan protos are published bool true
outputpath_pub_active If enabled, outputPath protos are published bool false
angle_offset Additive offset of the angle (scan beams) [degree] float -90.0f
angle_start Start angle (scan beams) float 0.0f
angle_end End angle (scan beams) float 0.0f
general_system_state If enabled, safety_scan protos will contain this information as sub-proto bool true
derived_settings If enabled, safety_scan protos will contain this information as sub-proto bool true
measurement_data If enabled, safety_scan protos will contain this information as sub-proto bool true
intrusion_data If enabled, safety_scan protos will contain this information as sub-proto bool true
application_io_data If enabled, safety_scan protos will contain this information as sub-proto bool true
publishing_frequency_factor A multiplicative factor to manipulate the publishing rate of the sensor. int 1
receive_timeout Timeout limit on waiting for sensor data [milliseconds] int 5000

Maintainer

Martin Schulze

FZI Forschungszentrum Informatik

on behalf of SICK AG

Copyright and License

Copyright (C) 2020, SICK AG, Waldkirch Copyright (C) 2020, FZI Forschungszentrum Informatik, Karlsruhe, Germany

Licensed under the Apache License, Version 2.0 (the "License"); See the LICENSE file.