laserrescan
Drivers

Laser rescanner. More...

Laser rescanner.

The laserrescan driver processes a laser scan to create a virtual scan configuration. Existing scans are interpolated.

The driver was created for the purpose of using pmap with non-sick scanners

Compile-time dependencies

- none

Provides

- laser : output of the rescan

Requires

- laser : raw laser data from which to interpolate

Configuration requests

- PLAYER_LASER_REQ_GET_GEOM

Configuration file options
  - min_angle (float)
    - Default: -pi/2
    - Minimum angle of the new scan data
  - max_angle (float)
    - Default: pi/2
    - Maximum angle of the new scan data
  - scan_count (int)
    - Default: 181
    - Number of scans from min angle to max angle

Example

    driver
    (
      name "sicklms200"
      provides ["laser:0"]
      port "/dev/ttyS0"
    )
    driver
    (
      name "laserrescan"
      requires ["laser:0"] # read from laser:0
      provides ["laser:1"] # output results on laser:1
    )

Author
  Toby Collett

Last updated 12 September 2005 21:38:45