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lasercspace
[Drivers]

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.

lasercspace-1.jpg

Standard laser scan

lasercspace-2.jpg

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_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 )

Authors
Andrew Howard


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