Chapter 8: LD-250 Rear Facing Laser
e.
Select LaserPort /dev/ttyUSB11
f.
Select LaserPowerOutput Aux_20V
4.
Save the configuration and wait for the AMR to reboot.
5.
Open the workspace map and verify the laser readings.
6.
Enter the laser coordinates as measured for the corresponding laser.
8.5 Set the Orientation and Position Values for the Laser
To set the coordinate values for the laser:
1.
Connect MobilePlanner to the AMR and open the Robot Configuration.
2.
Navigate to: Robot Physical and select Laser_X, where X is the identification number for
this laser.
3.
Check the Show Expert + Parameters option at the top right of the window to display
the parameters that you must configure.
4.
Check the LaserAutoConnect parameter to enable the laser at system start up.
5. Enter the laser's mounting location coordinates:
a.
LaserX (front to back)
b.
LaserY (left to right)
c.
LaserZ (height from floor)
6.
If required, use the LaserIgnore parameter to specify ignored segments of the scan field.
7.
If required, set the LaserFlipped parameter to true if the laser is inverted, or is on the left
side of the AMR.
8. If required, set the value of LaserTH depending on the direction of the laser's scan field
in relation to the AMR's direction of travel. (Such as -180 for laser pointing away from
the direction of travel).
Verify in MobilePlanner that the rear-facing laser is detecting obstacles in the correct locations
The laser location configuration must be accurate to the laser's physical mounting location on
the AMR.
To verify the installation make sure that the AMR can:
l
Stop before it collides with obstacles detected by the rear-facing laser.
l Dock and charge.
13732-000 Rev J LDī ±Platform Peripherals Guide 129
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