lasercspace
Drivers

Laser configuration space. More...

Laser configuration space.

The lasercspace driver processes a laser scan to compute the configuration space (`C-space') boundary. That is, it shortens the range of each laser scan such that the resultant scan delimits the obstacle-free portion of the robot's configuration space. This driver is particular useful for writing obstacle avoidance algorithms, since the robot may safely move to any point in the obstacle-free portion of the configuration space.

Note that driver computes the configuration space for a robot of some fixed radius; this radius may be set in the configuration file.

Standard laser scan
Corresponding C-space scan for a robot of 0.5 m

Compile-time dependencies

- none

Provides

- laser : output of the C-space scan

Requires

- laser : raw laser data from which to make C-space scan

Configuration requests

- PLAYER_LASER_REQ_GET_GEOM

Configuration file options

- radius (length)
  - Default: 0.5 m
  - Radius of robot for which to make C-space scan
- step (integer)
  - Default: 1
  - Step size for subsampling the scan (saves CPU cycles)

Example

    driver
    (
      name "sicklms200"
      provides ["laser:0"]
      port "/dev/ttyS0"
    )
    driver
    (
      name "lasercspace"
      requires ["laser:0"] # read from laser:0
      provides ["laser:1"] # output results on laser:1
      radius 0.5
    )

Author
  Andrew Howard

Last updated 12 September 2005 21:38:45