lasertoranger
Drivers

Laser-to-Ranger converter. More...

Laser-to-Ranger converter.

This driver translates data provided via the laser interface into the ranger interface.

Compile-time dependencies

- None

Provides

- ranger : Output ranger interface

Requires

- laser : Laser interface to translate

Configuration requests

- PLAYER_RANGER_REQ_GET_GEOM
- PLAYER_RANGER_REQ_POWER
- PLAYER_RANGER_REQ_INTNS

Configuration file options

- buggy_geom (integer)
  - Default: 0
  - If set to 1, the pz, proll and ppitch fields will be set to 0.0
  - This option is added to provide compatibility with old buggy laser drivers that do not clean unused geometry structure fields
- force_config (float tuple)
  - Default: not set
  - If set, it will override configuration values obtained from buggy laser drivers
  - values: [min_angle max_angle angular_res max_range range_res]
  - units: [deg deg deg m m]

Example

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

Author
  Geoffrey Biggs

Last updated 12 September 2005 21:38:45