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sickpls
[Drivers]

The sickpls driver controls the SICK PLS scanning laser range-finder. This driver will likely be merged into the sicklms200 driver (eventually).

Compile-time dependencies
  • none

Provides

Requires
  • none

Configuration requests
  • PLAYER_LASER_GET_GEOM
  • PLAYER_LASER_GET_CONFIG
  • PLAYER_LASER_SET_CONFIG

Configuration file options
  • port (string)
    • Default: "/dev/ttyS1"
    • Serial port to which laser is attached. If you are using a USB/232 or USB/422 converter, this will be "/dev/ttyUSBx".

  • rate (integer)
    • Default: 9600
    • Baud rate. Valid values are 9600, 38400 (RS232 or RS422) and 500000 (RS422 only).

  • delay (integer)
    • Default: 0
    • Delay (in seconds) before laser is initialized (set this to 35 if you have a newer generation Pioneer whose laser is switched on when the serial port is open).

  • resolution (integer)
    • Default: 50
    • Angular resolution. Valid values are:
      • resolution 50 : 0.5 degree increments, 361 readings @ 5Hz (38400) or 32Hz (500000).
      • resolution 100 : 1 degree increments, 181 readings @ 10Hz (38400) or 75Hz (500000).

  • invert (integer)
    • Default: 0
    • Is the laser physically inverted (i.e., upside-down)? Is so, scan data will be reversed accordingly.

  • pose (length tuple)
    • Default: [0.0 0.0 0.0]
    • Pose (x,y,theta) of the laser, relative to its parent object (e.g., the robot to which the laser is attached).

Example
driver ( name "sickpls" provides ["laser:0"] port "/dev/ttyS0" )

Authors
Yannick Brosseau, Andrew Howard


Generated on Tue May 3 14:16:11 2005 for Player by doxygen 1.3.6