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I'm using a SICK S300 safety scanner connected via RS422 -> USB and I'm trying to decode the lines of data into meaningful values, however looking at the data compared to the Telegram Listing it seems almost impossible due to the many differing values. Has anyone done this before?
I've tried using ROS and found difficulties doing so, especially as the package for the S300 doesn't support reflectors, which would be preffered.
According to the SICK 300 driver in ROS, your endpoint data will be a sensor_msgs/LaserScan ROS message, which you could reach to its values such as ranges[] and intensities[] by the specified topic.
The source code for decoding the telegram coming from the serial interface can be found here.
The actual decoding is in the getScan() function at line 160. after identifying the required part of the telegram (which as it seems, comes form multiple readings of the serial port), the scan data is converted to Polar coordinates using the convertScanToPolar() function in line 196
To answer your question. Yes, myself and others have done this before.
In practice you only need a subset of the telegrams for a given application.
I think you would be surprised how quickly you can write what you need if you sit down and start coding.
If you really get into it and handle all the telegrams, and are able to open the source code, I'm sure the community would appreciate it.
