hokuyo_aist
Drivers

Gearbox hokuyo_aist Hokuyo laser scanner driver library. More...

Gearbox hokuyo_aist Hokuyo laser scanner driver library.

This driver provides a ranger interface to the hokuyo_aist Hokuyo laser scanner driver provided by Gearbox. Communication with the laser is via the Gearbox Flexiport library. The driver supports the SCIP protocol versions 1 and 2.

Compile-time dependencies

- Gearbox library hokuyo_aist
- Gearbox library flexiport

Provides

- ranger : Output ranger interface

Configuration requests

- PLAYER_RANGER_REQ_INTNS
- PLAYER_RANGER_REQ_POWER
- PLAYER_RANGER_REQ_GET_GEOM
- PLAYER_RANGER_REQ_GET_CONFIG
- PLAYER_RANGER_REQ_SET_CONFIG
- Note: Only the min_angle and max_angle values can be configured using this request. To change the scanning frequency, use the speed_level property.

Configuration file options

- get_intensities (boolean)
  - Default: false
  - Set to non-zero to get intensity data with each range scan on models that support it. This can also be enabled/disabled using the PLAYER_RANGER_REQ_INTNS message. Note that the data retrieval mode used to get intensity data requires that the scan is performed after the command is received, so this will introduce a slight delay before the data is delivered.
- portopts (string)
  - Default: "type=serial,device=/dev/ttyACM0,timeout=1"
  - Options to create the Flexiport port with. Note that any baud rate specified in this line should be the scanner's startup baud rate.
- pose (float 6-tuple: (m, m, m, rad, rad, rad))
  - Default: [0.0 0.0 0.0 0.0 0.0 0.0]
  - Pose (x, y, z, roll, pitch, yaw) of the laser relative to its parent object (e.g. the robot).
- size (float 3-tuple: (m, m, m))
  - Default: [0.0 0.0 0.0]
  - Size of the laser in metres.
- min_angle (float, radians)
  - Default: -4.0 rad (Will use laser default)
  - Minimum scan angle to return. Will be adjusted if outside the laser's scannable range.
- max_angle (float, radians)
  - Default: 4.0 rad (Will use laser default)
  - Maximum scan angle to return. Will be adjusted if outside the laser's scannable range.
- power (boolean)
  - Default: true
  - If true, the sensor power will be switched on upon driver activation (i.e. when the first client connects). Otherwise a power request must be made to turn it on before data will be received.
- verbose (boolean)
  - Default: false
  - Enable verbose debugging information in the underlying library.
- ignoreunknowns (boolean)
  - Default: false
  - Ignore unknown lines sent by the laser in response to sensor info request commands.

Properties

- baud_rate (integer)
  - Default: 19200bps
  - Change the baud rate of the connection to the laser. See hokuyo_aist documentation for valid values. This is separate from the scanner's power-on default baud rate, which should be specified in portopts.
- speed_level (integer, 0 to 10 or 99)
  - Default: 0
  - The speed at which the laser operates, as a level down from maximum speed. See the hokuyo_aist library documentation for suitable values.
- high_sensitivity (integer)
  - Default: 0
  - Set to non-zero to enable high sensitivity mode on models that support it.
- min_dist (float, metres)
  - Default: 0m
  - Minimum possible distance. Below that means there is an error (a scratch on the laser for instance). The reading is then adjusted to the average of the neighboring valid beams.
- hw_timestamps (boolean)
  - Default: false
  - When false, the server will use server time stamps in data messages. When true, the time stamp in the laser data will be used.

Example

    driver
    (
        name "hokuyo_aist"
        provides ["ranger:0"]
        portopts "type=serial,device=/dev/ttyS0,timeout=1"
    )

Author
  Geoffrey Biggs

Last updated 12 September 2005 21:38:45