[Interface specifications]

Detailed Description

Laser range-finder.

The laser interface provides access to a single-origin scanning range sensor, such as a SICK laser range-finder (e.g., sicklms200).

Devices supporting the laser interface can be configured to scan at different angles and resolutions. As such, the data returned by the laser interface can take different forms. To make interpretation of the data simple, the laser data packet contains some extra fields before the actual range data. These fields tell the client the starting and ending angles of the scan, the angular resolution of the scan, and the number of range readings included. Scans proceed counterclockwise about the laser (0 degrees is forward). The laser can return a maximum of PLAYER_LASER_MAX_SAMPLES readings; this limits the valid combinations of scan width and angular resolution.

 The maximum number of laser range values.
 Data subtype: scan.
 Data subtype: pose-stamped scan.
 Request/reply subtype: get geometry.
 Request/reply subtype: get configuration.
 Request/reply subtype: set configuration.
 Request/reply subtype: set power.
typedef player_laser_data player_laser_data_t
typedef player_laser_data_scanpose player_laser_data_scanpose_t
 Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE).
typedef player_laser_geom player_laser_geom_t
 Request/reply: Get geometry.
typedef player_laser_config player_laser_config_t
 Request/reply: Get/set scan properties.
typedef player_laser_power_config player_laser_power_config_t
 Request/reply: Turn power on/off.

Typedef Documentation

typedef struct player_laser_config player_laser_config_t

Request/reply: Get/set scan properties.

The scan configuration (resolution, aperture, etc) can be queried by sending a null PLAYER_LASER_REQ_GET_CONFIG request and modified by sending a PLAYER_LASER_REQ_SET_CONFIG request. In either case, the current configuration (after attempting any requested modification) will be returned in the response. Read the documentation for your driver to determine what configuration values are permissible.

typedef struct player_laser_data_scanpose player_laser_data_scanpose_t

Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE).

A laser scan with a pose that indicates the (possibly esimated) pose of the laser when the scan was taken.

typedef struct player_laser_data player_laser_data_t


The basic laser data packet.

typedef struct player_laser_geom player_laser_geom_t

Request/reply: Get geometry.

The laser geometry (position and size) can be queried by sending a null PLAYER_LASER_REQ_GET_GEOM request.

typedef struct player_laser_power_config player_laser_power_config_t

Request/reply: Turn power on/off.

Send a PLAYER_LASER_REQ_POWER request to turn laser power on or off (assuming your hardware supports it).

Last updated 12 September 2005 21:38:45