profilerStreamer

profilerStreamer is a small project to combine 2D laser profiler data from Baumer with 1D sick distance sensor to recreate 3D point cloud of timber pieces in a CNC.

Note

This repository aims at creating a small grasshopper plugin for Rhino8. It is currently only a c++ library with binding and is still work in progress.

The hardware used in this instance is:

• Baumer OXP200 profiler
• Sick DT35-B15251 distance sensor

The setup is illustrated hereunder:

Prerequisites

Network setup

To communicate with the profiler's web socket and IO-Link master's OPC-UA server, connect your computer to local network (the one in which the profiler is present), which likely implies connecting an ethernet cable. Then modify your computer's settings as follows:

Once this setup specified, you can turn the profiler and IO-Link master ON, and the connection should work fine.

Identifiers and IPs

To run the code successfully, you must know:

• The IP adresses of:

  • the Baumer profiler
  • the IO-Link master

  [!NOTE] [TO BE FIXED] For now hard-coded in the c++ code, but as parameter in the python binding:

  std::string OPCUAHost = "opc.tcp://192.168.0.64:4840";

• The NamespaceIndex and Identifier of the port 4 of the IO-Link device in the OPC-UA server of the IO-Link master.

  [!NOTE] [TO BE FIXED] For now hard-coded in the c++ code, but as parameter in the python binding:

  ProfilerStreaming::Communicate::OPCUACommunicator opcuaCommunicator(OPCUAHost,
                                                                      ProfilerStreaming::Device::DeviceType::IO_LINK, 
                                                                      {6, 229916}); // The NamespaceIndex and Identifier

  These parameters can be found using the UaExpert software:

  

Usage

The code developped here is intended to be developped into a grasshopper component. In the mean time, to use this code in its current form, checkout the USAGE.md file in this repository.