laser format
Data logging

laser log format More...

laser log format

The following type:subtype laser messages can be logged:

- 1:1 (PLAYER_LASER_DATA_SCAN) - A scan. The format is:
  - scan_id (int): unique, usually increasing index associated with the scan
  - min_angle (float): minimum scan angle, in radians
  - max_angle (float): maximum scan angle, in radians
  - resolution (float): angular resolution, in radians
  - max_range (float): maximum scan range, in meters
  - count (int): number of readings to follow
  - list of readings; for each reading:
    - range (float): in meters
    - intensity (int): intensity
- 1:2 (PLAYER_LASER_DATA_SCANPOSE) - A scan with an attached pose. The format is:
  - scan_id (int): unique, usually increasing index associated with the scan
  - px (float): X coordinate of the pose of the laser's parent object (e.g., the robot to which it is attached), in meters
  - py (float): Y coordinate of the pose of the laser's parent object (e.g., the robot to which it is attached), in meters
  - pa (float): yaw coordinate of the pose of the laser's parent object (e.g., the robot to which it is attached), in radians
  - min_angle (float): minimum scan angle, in radians
  - max_angle (float): maximum scan angle, in radians
  - resolution (float): angular resolution, in radians
  - max_range (float): maximum scan range, in meters
  - count (int): number of readings to follow
  - list of readings; for each reading:
    - range (float): in meters
    - intensity (int): intensity
- 4:1 (PLAYER_LASER_REQ_GET_GEOM) - Laser pose information. The format is:
  - lx (float): X coordinate of the laser's pose wrt its parent (e.g., the robot to which it is attached), in meters.
  - ly (float): Y coordinate of the laser's pose wrt its parent (e.g., the robot to which it is attached), in meters.
  - la (float): yaw coordinate of the laser's pose wrt its parent (e.g., the robot to which it is attached), in radians.
  - sx (float): length of the laser
  - sy (float): width of the laser

Last updated 12 September 2005 21:38:45