ranger format
Data logging

ranger log format More...

ranger log format

The following type:subtype ranger messages can be logged:

- 1:1 (PLAYER_RANGER_DATA_RANGE) - A range scan. The format is:
  - ranges_count (uint): number of ranges
  - list of ranges_count ranges:
    - range (double): distance
- 1:2 (PLAYER_RANGER_DATA_RANGEPOSE) - A range scan optionally with the (possibly estimated) geometry of the device when the scan was acquired and optional sensor configuration. The format is:
  - ranges_count (uint): number of ranges
  - list of ranges_count ranges:
    - range (double): distance
  - have_geom (uint8): If non-zero, the geometry data has been filled
  - geometry of device at the time of range data:
    - pose of device:
      - px (float): X coordinate of the pose, in meters
      - py (float): Y coordinate of the pose, in meters
      - pz (float): Z coordinate of the pose, in meters
      - proll (float): roll coordinate of the pose, in radians
      - ppitch (float): pitch coordinate of the pose, in radians
      - pyaw (float): yaw coordinate of the pose, in radians
    - size of device:
      - sw (float): width of the device, in meters
      - sl (float): length of the device, in meters
      - sh (float): height of the device, in meters
    - element_poses_count (uint): pose of each individual range sensor that makes up the device
    - list of element_poses_count poses:
      - px (float): X coordinate of the pose, in meters
      - py (float): Y coordinate of the pose, in meters
      - pz (float): Z coordinate of the pose, in meters
      - proll (float): roll coordinate of the pose, in radians
      - ppitch (float): pitch coordinate of the pose, in radians
      - pyaw (float): yaw coordinate of the pose, in radians
    - element_sizes_count (uint): size of each individual range sensor that makes up the device
    - list of element_sizes_count sizes:
      - sw (float): width of the device, in meters
      - sl (float): length of the device, in meters
      - sh (float): height of the device, in meters
  - have_config(uint8): If non-zero, the config data has been filled
  - config of device:
    - min_angle (float): start angle of scans, in radians
    - max_angle (float): end angle of scans, in radians
    - angular_res (float): scan resolution, in radians
    - min_range (float): minimum range, in meters
    - max_range (float): maximum range, in meters
    - range_res (float): range resolution, in meters
    - frequency (float): scanning frequency, in Hz
- 1:3 (PLAYER_RANGER_DATA_INTNS) - An intensity scan. The format is:
  - intensities_count (uint): number of intensities
  - list of intensities_count intensities:
    - intensity (double)
- 1:4 (PLAYER_RANGER_DATA_ITNSPOSE) - An intensity scan with an attached pose (estimated from the time of the scan). The format is:
  - intensities_count (uint): number of intensities
  - list of intensities_count intensities:
    - intensity (double)
  - have_geom (uint8): If non-zero, the geometry data has been filled
  - geometry of device at the time of intensity data:
    - pose of device:
      - px (float): X coordinate of the pose, in meters
      - py (float): Y coordinate of the pose, in meters
      - pz (float): Z coordinate of the pose, in meters
      - proll (float): roll coordinate of the pose, in radians
      - ppitch (float): pitch coordinate of the pose, in radians
      - pyaw (float): yaw coordinate of the pose, in radians
    - size of device:
      - sw (float): width of the device, in meters
      - sl (float): length of the device, in meters
      - sh (float): height of the device, in meters
    - element_poses_count (uint): pose of each individual range sensor that makes up the device
    - list of element_poses_count poses:
      - px (float): X coordinate of the pose, in meters
      - py (float): Y coordinate of the pose, in meters
      - pz (float): Z coordinate of the pose, in meters
      - proll (float): roll coordinate of the pose, in radians
      - ppitch (float): pitch coordinate of the pose, in radians
      - pyaw (float): yaw coordinate of the pose, in radians
    - element_sizes_count (uint): size of each individual range sensor that makes up the device
    - list of element_sizes_count sizes:
      - sw (float): width of the device, in meters
      - sl (float): length of the device, in meters
      - sh (float): height of the device, in meters
  - have_config(uint8): If non-zero, the config data has been filled
  - config of device:
    - min_angle (float): start angle of scans, in radians
    - max_angle (float): end angle of scans, in radians
    - angular_res (float): scan resolution, in radians
    - min_range (float): minimum range, in meters
    - max_range (float): maximum range, in meters
    - range_res (float): range resolution, in meters
    - frequency (float): scanning frequency, in Hz
- 4:1 (PLAYER_RANGER_REQ_GET_GEOM) - Ranger pose information. The format is:
  - pose of device:
    - px (float): X coordinate of the pose, in meters
    - py (float): Y coordinate of the pose, in meters
    - pz (float): Z coordinate of the pose, in meters
    - proll (float): roll coordinate of the pose, in radians
    - ppitch (float): pitch coordinate of the pose, in radians
    - pyaw (float): yaw coordinate of the pose, in radians
  - size of device:
    - sw (float): width of the device, in meters
    - sl (float): length of the device, in meters
    - sh (float): height of the device, in meters
  - element_poses_count (uint): pose of each individual range sensor that makes up the device
  - list of element_poses_count poses:
    - px (float): X coordinate of the pose, in meters
    - py (float): Y coordinate of the pose, in meters
    - pz (float): Z coordinate of the pose, in meters
    - proll (float): roll coordinate of the pose, in radians
    - ppitch (float): pitch coordinate of the pose, in radians
    - pyaw (float): yaw coordinate of the pose, in radians
  - element_sizes_count (uint): size of each individual range sensor that makes up the device
  - list of element_sizes_count sizes:
    - sw (float): width of the device, in meters
    - sl (float): length of the device, in meters
    - sh (float): height of the device, in meters

Last updated 12 September 2005 21:38:45